CN109620146B - Flexible sensor for measuring human body movement and application thereof - Google Patents

Flexible sensor for measuring human body movement and application thereof Download PDF

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CN109620146B
CN109620146B CN201811440104.9A CN201811440104A CN109620146B CN 109620146 B CN109620146 B CN 109620146B CN 201811440104 A CN201811440104 A CN 201811440104A CN 109620146 B CN109620146 B CN 109620146B
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flexible sensor
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CN109620146A (en
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郭家杰
李鑫
杨露叶
麻星星
陈明慧
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Huazhong University of Science and Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
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    • 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
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Abstract

The invention belongs to the field of human body movement measurement, and particularly discloses a flexible sensor for human body movement measurement and application thereof. The flexible sensor comprises a sensing area and a fixing area, wherein the sensing area comprises a first pole plate, a second pole plate, an elastic dielectric layer and a copper wire, the first pole plate is smaller than the second pole plate in area and is closer to a neutral layer, the elastic dielectric layer is filled between the first pole plate and the second pole plate, and the copper wire is respectively connected with the first pole plate and the second pole plate and led out; the fixed area is made of flexible materials, and the sensing area is packaged to form a closed structure. The capacitance signal of the flexible sensor constructed by the invention has an accurate quadratic polynomial relationship with the deformation angle, and the deformation angle of the sensor can be accurately calculated through the change of capacitance; meanwhile, the device can be made into a wearable sensing device for measuring amphibious motion data.

Description

Flexible sensor for measuring human body movement and application thereof
Technical Field
The invention belongs to the field of human body movement measurement, and particularly relates to a flexible sensor for human body movement measurement and application thereof.
Background
In recent years, the technical fields of wearable electronic products, flexible robots, flexible exoskeletons and the like are continuously developed. In order to accurately construct models and realize human-computer interaction, people have wider requirements and stricter requirements on sensors capable of continuously monitoring human body movement.
The existing optical tracking measurement needs to arrange reflective mark points on a human body and record the motion state of the human body by tracking the space positions of the mark points through a camera, but the method can only be used in a specific laboratory environment, and needs to carry out a large amount of post-processing and development of motion models, so that the method is difficult to adapt to measurement in a complex environment of amphibious. The non-optical measurement method mainly adopts an angle measuring instrument and an inertial navigation system, wherein the angle measuring instrument can be used for measuring the angle of the joint of the human body, but the rigid sensor has poor adaptability to the human body, so that the motion of the human body is hindered in the measurement; the inertial navigation system is limited by the problem of zero drift, so that the measurement accuracy is affected.
The method is mainly used for measuring the motion of the human body on the land, and no equipment or sensor can be used for measuring the motion of the human body in underwater motion at present. However, with the continuous exploration of the sea by the human beings and the continuous development of the underwater robot and the underwater exoskeleton, the demand for the measurement of the underwater motion of the human body is more urgent.
Disclosure of Invention
In view of the above-mentioned drawbacks or needs for improvement of the prior art, the present invention provides a flexible sensor for measuring human body movement and its application, wherein the flexible sensor employs a parallel plate capacitor structure and a flexible material, and researches and designs the structures and specific arrangement modes of key components thereof, such as a first pole plate and a second pole plate, so that the flexible sensor can accurately measure the bending angle, and can be applied to an underwater environment through waterproof protection, thereby being particularly suitable for amphibious human body movement measurement.
To achieve the above object, according to one aspect of the present invention, there is provided a flexible sensor characterized by comprising a sensing region and a fixing region, wherein:
the sensing area adopts a parallel plate capacitor structure and comprises a first polar plate, a second polar plate, an elastic dielectric layer and a copper conductor, wherein the first polar plate and the second polar plate are positioned on the same side of the neutral layer of the flexible sensor, and the area of the first polar plate is smaller than that of the second polar plate and is closer to the neutral layer of the flexible sensor; the elastic dielectric layer is made of flexible materials and is filled between the first pole plate and the second pole plate; the copper wire is respectively connected with the first pole plate and the second pole plate and is led out for transmitting capacitance information;
the fixed area is made of flexible materials, and the sensing area is packaged to form a closed structure.
Preferably, the widths of the two ends of the fixing area are gradually increased in a stepped manner, so that clamping is convenient, and the first polar plate and the second polar plate are preferably rectangular.
More preferably, the distance between the first polar plate and the neutral layer is preferably 0.9 mm-1.1 mm, and the distance between the first polar plate and the second polar plate is preferably 0.4 mm-0.6 mm.
As a further preferred, the first electrode plate and the second electrode plate are made of liquid metal material, and preferably gallium indium alloy, and the elastic dielectric layer and the fixing region are made of urethane resin.
According to another aspect of the present invention, there is provided a method for calculating a deformation angle of the flexible sensor, wherein the method establishes a quadratic relationship between a capacitance of the flexible sensor and a rotation angle of a terminal thereof, and the specific calculation formula is as follows:
Figure GDA0002449565630000021
wherein, Delta C is the variation of capacitance, C is the capacitance when no deformation occurs, v is the Poisson ratio of the elastomer material, and z1Is the distance between the first polar plate and the neutral layer, z2The distance between the second pole plate and the neutral layer is obtained, L is the length of the neutral layer in the sensing area, and theta is the rotation angle of the tail end of the flexible sensor.
According to still another aspect of the present invention, there is provided an apparatus for measuring a turning angle of an ankle joint of a human body, comprising a fixed end, a sliding end and the above-mentioned flexible sensor, wherein:
one end of the flexible sensor is connected with the fixed end, and the other end of the flexible sensor is connected with the sliding end;
a measuring circuit is arranged in the fixed end, is connected with the two copper wires of the sensor and is used for receiving capacitance information of the sensor;
the sliding end is longitudinally perforated, the elastic rope penetrates through the hole and the two ends of the elastic rope are fixed after being pre-stretched, so that the sliding end is ensured to slide along the elastic rope without left and right deviation.
As a further preference, the fixed end is internally filled with a waterproof material to provide waterproof protection for the measurement circuit.
As a further preferred, the waterproof material preferably employs Ecoflex solution.
As a further preference, the device for measuring the angle of rotation of the ankle of a human body is preferably mounted on a diving boot.
Preferably, the fixing end further comprises a fixing device for preventing the fixing end from micro sliding displacement, and the fixing device comprises a binding band arranged on the left side and a binding band arranged on the right side and a magic tape fixed on the back side.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the capacitance signal of the flexible sensor constructed by the invention has an accurate quadratic polynomial relationship with the deformation angle thereof, so that the deformation angle of the sensor can be accurately calculated through the change of capacitance, and the sensor can measure larger angle change in a smaller strain range;
2. meanwhile, the flexible sensor is made into a wearable sensing device, so that the wearable sensing device can conform to joint deformation, has good wearability, only needs to be calibrated once, does not need to be calibrated again when in use, and has good practical application value;
3. in addition, the waterproof protection is provided for the measuring circuit by adopting the waterproof material, so that the device not only can be used for measuring the rotation angle of the ankle joint in walking, running and other land sports gaits, but also can be used for measuring the rotation angle of the ankle joint in swimming, diving and other underwater swimming gaits, the waterproof depth can reach 50 meters, the root mean square error of the joint angle measured in the land gaits is less than 3.5 degrees, and the root mean square error of the joint angle measured in an underwater static state is less than 3 degrees.
Drawings
FIG. 1 is a schematic structural diagram of a flexible sensor provided by the present invention;
FIG. 2 is a schematic view of a flexible sensor according to the present invention in a bent configuration;
FIG. 3 is an overall perspective view of a flexible sensor provided by the present invention;
FIGS. 4(a) - (g) are flow charts of the manufacturing process of the flexible sensor provided by the present invention;
FIG. 5 is a schematic diagram of the position of a pad in a flexible sensor provided by the present invention;
FIG. 6 is a schematic size diagram of a plate in a flexible sensor provided by the present invention;
FIG. 7 is a schematic view of the flexible sensor according to the present invention at an angle when deformed;
FIG. 8 is a schematic structural view of an apparatus for measuring the angle of rotation of an ankle joint of a human body constructed in accordance with the present invention;
FIG. 9 is a schematic view showing the installation position of a measuring circuit in the apparatus for measuring the angle of rotation of an ankle of a human body constructed in accordance with the present invention;
FIG. 10 is a schematic view of the device for measuring the ankle joint rotation angle of a human body according to the preferred embodiment of the present invention mounted on a diving boot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, the present invention provides a flexible sensor, which is characterized by comprising a sensing area and a fixing area, wherein:
the sensing area adopts a parallel plate capacitor structure and comprises a first pole plate 1, a second pole plate 2, an elastic dielectric layer and a copper conductor 3, wherein the first pole plate 1 and the second pole plate 2 are positioned on the same side of the neutral layer of the flexible sensor, and the area of the first pole plate 1 is smaller than that of the second pole plate 2 and is closer to the neutral layer of the flexible sensor, so that the capacitance of the sensing area is determined by the size of the first pole plate 1 when bending deformation occurs; the elastic dielectric layer is made of flexible materials to form an elastic body and is filled between the first pole plate 1 and the second pole plate 2; the copper wire 3 is respectively connected with the first pole plate 1 and the second pole plate 2 and is led out for transmitting capacitance information;
more specifically, the flexible sensor neutral layer is a transition layer which is not stretched or compressed in the bending process of the flexible sensor, and the strain is almost equal to zero;
the fixed area 4 is made of flexible materials to form an elastic body, and the sensing area is packaged to form a closed structure.
Further, the width of the two ends of the fixing area is gradually increased in a stepped mode, clamping is convenient to conduct, and the first pole plate 1 and the second pole plate 2 are preferably rectangular.
Further, the distance between the first polar plate 1 and the neutral layer is preferably 0.9 mm-1.1 mm, and the distance between the first polar plate 1 and the second polar plate 2 is preferably 0.4 mm-0.6 mm.
Further, the first electrode plate 1 and the second electrode plate 2 are made of liquid metal material, preferably gallium indium alloy, and the elastic dielectric layer and the fixing region are made of polyurethane resin.
As shown in fig. 4(a) to (g), the flexible sensor is manufactured by a layered shape deposition molding method, which includes seven steps: solidification shaping basic unit, preset the copper wire, spout seal liquid metal polar plate, solidification shaping dielectric layer, preset opposite side copper wire, spout seal opposite side liquid metal polar plate and solidification shaping encapsulation layer, the technology of adoption include elastomer solidification shaping, preset copper wire and liquid metal spout the seal, wherein:
the process for curing and molding the elastomer comprises the following steps: a, B, C three solutions of flexible material polyurethane resin PU8400 (with a relative dielectric constant of 7-8) are mixed and stirred uniformly according to the proportion of 1:1:1 to obtain a solution 6, the solution 6 is injected into a mould 5 and stands for 3 hours at 25 ℃, and then the solution can be cured and molded to form an elastomer; the forming die 5 consists of a base plate and a cover plate, is processed by using industrial blue wax for facilitating demoulding, and is provided with a pouring opening above the die 5 and a gas guide hole at the bottom end for facilitating gas discharge; in the manufacturing process, 3 cover plates with different depth sizes are needed to be replaced for forming the base layer, the dielectric layer and the packaging layer;
the process for presetting the copper wire comprises the following steps: fixing the copper wire 3 in the reserved space of the elastomer by using glue;
the liquid metal spray printing process comprises the following steps: after the copper wire 3 is preset, covering a mask plate 9 on the upper surface, and then carrying out liquid metal spray printing by using spray printing equipment to manufacture a polar plate; the jet printing equipment comprises an air compressor, a dispenser, a spray pen 7 and a three-dimensional displacement platform, wherein the three-dimensional displacement platform controls the position of a nozzle of the spray pen in a three-dimensional space, the air compressor provides compressed air, the dispenser is used for stabilizing air flow air pressure and controlling air flow ejection time, the air flow air pressure is preferably 0.2Mpa, the ejection time is preferably 0.15s, the spray pen 7 breaks up liquid metal 8 in a storage bin into tiny particles by utilizing air flow with stable air pressure and fixed duration and ejects the tiny particles, and the ejected liquid metal 8 forms liquid metal polar plates which are stably communicated with each other on a flexible substrate and is communicated with a preset copper wire 3.
As shown in fig. 5 to 7, according to another aspect of the present invention, a method for calculating a deformation angle of the flexible sensor is provided, in the method, a sensing region in the flexible sensor is regarded as a two-dimensional beam model, a thickness of the plate is ignored, an elastic material is assumed to be isotropic, a bending deformation of the elastic material is a two-dimensional beam pure bending, since the length of the sensing region is short, the elastic material can be regarded as an equal curvature after the pure bending deformation occurs, when the flexible sensor is not bent, a capacitance of the flexible sensor depends on a facing area between the plates, a distance between the plates and a dielectric constant of the dielectric layer, and a specific formula of the capacitance when the flexible sensor is not deformed is:
Figure GDA0002449565630000061
wherein C is the capacitance without deformation, εrRelative dielectric constant of dielectric layer material; epsilon0The vacuum dielectric constant is shown, S is the facing area between the first pole plate 1 and the second pole plate 2 before deformation, d is the distance between the first pole plate 1 and the second pole plate 2 before deformation, l1The length, w, of the first pole plate 1 before deformation1The width of the first pole plate 1 before deformation;
when the flexible sensor is subjected to bending deformation, the pure bending deformation property and the plane section assumption of the beam can be obtained:
Figure GDA0002449565630000062
Figure GDA0002449565630000071
Figure GDA0002449565630000072
Figure GDA0002449565630000073
Figure GDA0002449565630000074
Figure GDA0002449565630000075
wherein κ is curvature of curved neutral layer of sensor, < i >'1The length of the deformed first pole plate 1,
Figure GDA0002449565630000076
is the strain of the first polar plate 1 in the length direction, z1Is the distance between the first polar plate 1 and the neutral layer, w'1To becomeThe width of the back first polar plate 1 is shaped,
Figure GDA0002449565630000077
is the strain of the first polar plate 1 in the width direction, v is the Poisson ratio of the elastomer material,
Figure GDA0002449565630000078
is strain of No. 1 polar plate in the thickness direction l'2The length of the deformed second pole plate 2 is l2The length of the second pole plate 2 before deformation,
Figure GDA0002449565630000079
is strain of No. 2 polar plate in length direction, w'2Is the width, w, of the deformed second pole plate 22The width of the second pole plate 2 before deformation;
Figure GDA00024495656300000710
is the strain of the second polar plate 2 in the width direction,
Figure GDA00024495656300000711
is the strain in the thickness direction of the second electrode plate 2, z2The distance between the second polar plate and the neutral layer is obtained;
l 'at maximum deformation, i.e. 90 DEG, can be determined from the design dimensions'1＜l′2，w′1＜w′2Therefore, the facing area between the electrode plates is changed from the area S ' l ' of the first electrode plate 1 '1·w′1The strain in the thickness direction is determined to be linearly distributed, so the thickness of the dielectric layer after bending deformation is as follows:
Figure GDA00024495656300000712
in the formula, S' is the opposite area of the first pole plate 1 and the second pole plate 2 after deformation; d' is the distance between the first pole plate 1 and the second pole plate 2 after deformation,
Figure GDA00024495656300000713
in the thickness direction of the sensing regionAverage strain;
in conclusion, the capacitance of the flexible sensor after bending deformation is as follows:
Figure GDA00024495656300000714
expanding equation (10) into a taylor polynomial at κ ═ 0, ignoring higher order terms of degree 3 and above yields:
Figure GDA0002449565630000081
the geometrical relationship represented by FIG. 7 results in the corners of the ends of the flexible sensor, i.e., the corners of the flexible sensor at one end and at the other end
Figure GDA0002449565630000082
Obtained by substituting in formula (10):
Figure GDA0002449565630000083
in the formula, C' is the capacitance after deformation, Δ C is the variation of the capacitance, L is the length of the neutral layer of the sensing area, θ is the corner of the tail end of the flexible sensor, and ρ is the curvature radius of the curved arc of the central layer of the sensing area.
As shown in FIGS. 8 to 10, according to still another aspect of the present invention, there is provided an apparatus for measuring a turning angle of an ankle joint of a human body, comprising a fixed end, a sliding end and the above-mentioned flexible sensor 11, wherein:
one end of the flexible sensor 11 is connected with the fixed end 10, the other end of the flexible sensor is connected with the sliding end 12, and the flexible sensor 11 can be used for measuring the rotation angle of the ankle joint after being calibrated;
a measuring circuit 14 is arranged in the fixed end 10, the measuring circuit 14 is connected with the two copper wires 3 of the sensor and is used for receiving capacitance information of the sensor, and the fixed end is used for fixing the device for measuring the corner of the ankle joint of the human body;
the sliding end 12 is longitudinally perforated, the elastic rope 13 passes through the hole and the two ends are fixed on the instep after being pre-stretched, so that the sliding end 12 is ensured to slide along the elastic rope 13, namely the sagittal plane, without left and right deflection, and the sliding end 12 is always in contact with the instep;
more specifically, the fixed end 10 is installed above the ankle, the flexible sensor is located at the ankle, the sliding end 12 is located below the ankle, and the elastic string 13 is fixed on the upper surface of the foot.
Further, the inside waterproof material that adopts of stiff end 10 does measuring circuit provides water protection.
Further, the waterproof material preferably adopts Ecoflex solution.
Furthermore, the device for measuring the angle of the ankle joint of the human body is arranged on the diving boots.
Further, the fixing end 10 further includes a fixing device for preventing the fixing end from sliding slightly, and the fixing device includes a binding band installed on the left and right sides and a magic tape fixed on the back.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. A flexible sensor, characterized in that the flexible sensor comprises a sensing area and a fixation area (4), wherein:
the sensing region adopts a parallel plate capacitor structure and comprises a first polar plate (1), a second polar plate (2), an elastic dielectric layer and a copper wire (3), wherein the first polar plate (1) and the second polar plate (2) are positioned on the same side of a neutral layer of the flexible sensor, and the area of the first polar plate (1) is smaller than that of the second polar plate (2) and is closer to the neutral layer of the flexible sensor; the elastic dielectric layer is made of flexible materials and is filled between the first pole plate (1) and the second pole plate (2); the copper wire (3) is respectively connected with the first pole plate (1) and the second pole plate (2) and led out for transmitting capacitance information;
the fixed area (4) is made of flexible materials, and the sensing area is packaged to form a closed structure;
the secondary relation between the capacitance of the flexible sensor and the corner at the tail end of the flexible sensor is as follows:
Figure FDA0002449565620000011
wherein, Delta C is the variation of capacitance, C is the capacitance when no deformation occurs, v is the Poisson ratio of the elastomer material, and z1Is the distance between the first polar plate and the neutral layer, z2The distance between the second pole plate and the neutral layer is obtained, L is the length of the neutral layer in the sensing area, and theta is the rotation angle of the tail end of the flexible sensor.
2. The flexible sensor according to claim 1, wherein the width of the two ends of the fixing region (4) is increased in a stepwise manner, so that clamping is facilitated, and the first pole plate (1) and the second pole plate (2) are rectangular.
3. The flexible sensor according to claim 1, wherein the distance between the first pole plate (1) and the neutral layer is 0.9 mm-1.1 mm, and the distance between the first pole plate (1) and the second pole plate (2) is 0.4 mm-0.6 mm.
4. The flexible sensor according to any one of claims 1 to 3, wherein the first plate (1) and the second plate (2) are made of a liquid metal material, and the elastic dielectric layer and the fixing region (4) are made of a polyurethane resin.
5. A device for measuring the angle of rotation of the ankle joint of a human being, characterized in that it comprises a fixed end (10), a sliding end (12) and a flexible sensor (11) according to any one of claims 1 to 4, wherein:
one end of the flexible sensor (11) is connected with the fixed end (10), and the other end of the flexible sensor is connected with the sliding end (12);
a measuring circuit (14) is arranged in the fixed end (10), and the measuring circuit (14) is connected with the two copper wires (3) of the sensor (11) and used for receiving capacitance information of the sensor (11);
the sliding end (12) is longitudinally perforated, the elastic rope (13) penetrates through the hole and the two ends are fixed after being pre-stretched, so that the sliding end (12) is ensured to slide along the elastic rope (13) without left and right deviation;
the quadratic relation between the capacitance of the flexible sensor and the rotation angle of the sliding end (12) is as follows:
Figure FDA0002449565620000021
wherein, Delta C is the variation of capacitance, C is the capacitance when no deformation occurs, v is the Poisson ratio of the elastomer material, and z1Is the distance between the first polar plate and the neutral layer, z2The distance between the second pole plate and the neutral layer is obtained, L is the length of the neutral layer in the sensing area, and theta is the rotation angle of the tail end of the flexible sensor.
6. The apparatus for measuring the angle of rotation of an ankle joint of a human body as claimed in claim 5, wherein said fixing end (10) is internally filled with a waterproof material to provide waterproof protection for said measuring circuit.
7. The apparatus for measuring the angle of rotation of an ankle joint of a human body according to claim 6, wherein the waterproof material is Ecoflex solution.
8. The apparatus for measuring human ankle joint rotation angle of claim 5, wherein said apparatus for measuring human ankle joint rotation angle is installed on a diving boot.
9. The apparatus for measuring the angle of rotation of an ankle joint of a human body according to any one of claims 5 to 8, wherein the fixing end (10) further comprises a fixing means for preventing a minute sliding displacement thereof, and the fixing means comprises a strap attached to both left and right sides and a hook and loop fastener attached to the back side.
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