CN112014003A - Flexible sensor for measuring human muscle deformation and preparation method thereof - Google Patents
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Abstract
The invention belongs to the technical field related to human body movement measurement, and discloses a flexible sensor for measuring human body muscle deformation and a preparation method thereof, wherein the flexible sensor comprises a first elastomer layer, a second elastomer layer, a third elastomer layer, a first multi-walled carbon nanotube film and a second multi-walled carbon nanotube film; the first multi-walled carbon nanotube film is arranged on the third elastomer layer, the second elastomer layer is arranged on the third elastomer layer and covers the first multi-walled carbon nanotube film; the second multi-walled carbon nanotube film is arranged on the second elastomer layer, and the first elastomer layer is arranged on the second elastomer layer and covers the second multi-walled carbon nanotube film; the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are perpendicular to each other, and an overlapping area is arranged between the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film. The invention realizes active and passive measurement, and has simple operation and strong applicability.
Description
Technical Field
The invention belongs to the technical field related to human body movement measurement, and particularly relates to a flexible sensor for human body muscle deformation measurement and a preparation method thereof.
Background
If the human body is regarded as a precise machine, the skeletal muscles distributed on the human body are drivers of the machine, the normal human body has about 650 skeletal muscles which are main fixers and moving persons of the human skeletal system, the stable posture of the human body is derived from the balance between the forces which resist each other, and the forces generated by the skeletal muscles are the main means for controlling the complex balance between the posture and the movement.
The muscles used as the 'motor' of the human body are not only suitable for the external complex environment, but also regulated by the nervous system of the human body, have very complex structures, and each muscle is composed of a plurality of muscle nodes capable of generating internal force. Because the muscles are distributed in the human body and have complex structures, the measurement of the muscle motion state can only be started from the skin surface outside the muscles on the premise of not causing injury to the human body. The most sophisticated muscle movement measurement method at present is Electromyography (EMG). EMG is capable of monitoring the electrical signals transmitted in neurons when muscles are actively moving. Although the amplitude of the EMG signal can be used for measuring the muscle force, the relationship is unstable, and there is no correlation between the EMG signal and the muscle force under certain conditions, the EMG signal is easily affected by the configuration and size of the electrodes, the interference of the muscle near the measured muscle and other factors, so that the signal has complex noise and is difficult to analyze; in addition, EMG signals can only measure the active movement of a muscle, which cannot be measured without the generation of electrical signals when the muscle is in passive movement (not controlled by the active movement). Accordingly, there is a need in the art to develop a flexible sensor for measuring muscle deformation of a human body, in which active and passive states of muscles are measurable, and a method for manufacturing the same.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a flexible sensor for measuring the muscle deformation of the human body and a preparation method thereof. The flexible sensor takes muscle deformation as a starting point, measures multidirectional strain and muscle expansion of muscle skin in muscle movement, specifically, the flexible sensor adopts a multiwalled carbon nanotube (MW-CNTs) film as an electrode, platinum catalytic silicone rubber (Ecoflex) as an elastic body, two layers of multiwalled carbon nanotube films which are vertically arranged are independently two strain sensors, can measure the strain in two directions which are mutually perpendicular in a plane, and the overlapped parts of the two layers of multiwalled carbon nanotube films form a parallel plate capacitance sensor which can be used for measuring the information of force which is applied to the sensor and is perpendicular to the plane, thereby realizing the function that the active state and the passive state can be measured. In addition, the flexible sensor is manufactured by layering forming, and is simple to operate and easy to implement.
To achieve the above objects, according to one aspect of the present invention, there is provided a flexible sensor for measuring deformation of muscles of a human body, the flexible sensor including a first elastomer layer, a second elastomer layer, a third elastomer layer, a first multi-walled carbon nanotube film, and a second multi-walled carbon nanotube film; the first multi-walled carbon nanotube film is disposed on the third elastomeric layer, the second elastomeric layer is disposed on the third elastomeric layer, and it covers the first multi-walled carbon nanotube film; the second multi-walled carbon nanotube film is disposed on the second elastomeric layer, the first elastomeric layer is disposed on the second elastomeric layer, and it covers the second multi-walled carbon nanotube film; the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are arranged vertically to each other, and an overlapping area is formed between the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film;
the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are mutually independent to form two strain sensors so as to realize measurement of strains in two directions which are mutually vertical in a measurement plane; the area where the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film overlap each other constitutes a parallel plate capacitance sensor to measure the pressure perpendicular to the measurement plane to which the flexible sensor is subjected.
Further, when the flexible sensor generates transverse strain, the initial resistance value of the first multi-walled carbon nanotube film changes accordingly, and the transverse strain is calculated based on the resistance value variation of the first multi-walled carbon nanotube film.
Further, when the flexible sensor generates longitudinal strain, the initial resistance value of the second multi-walled carbon nanotube film is changed, and the longitudinal strain is calculated based on the resistance value variation of the second multi-walled carbon nanotube film.
Further, when the flexible sensor is subjected to pressure in the thickness direction of the flexible sensor, the capacitance formed by the overlapping area of the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film changes, and the pressure applied to the flexible sensor is obtained based on the obtained capacitance change amount.
Furthermore, the two ends of the first multi-walled carbon nanotube film, which are opposite to each other, and the two ends of the second multi-walled carbon nanotube film, which are opposite to each other, are respectively connected with a copper wire, and the copper wires are connected to an external measuring circuit during operation.
Further, the first elastomer layer, the second elastomer layer and the third elastomer layer constitute an elastomer, and the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are embedded in the elastomer; the elastomer is made of transparent platinum-catalyzed silica gel.
Furthermore, the first multi-walled carbon nanotube film is in a shape of Chinese character 'zhong', and comprises a first connecting portion, a second connecting portion and a middle portion, wherein the first connecting portion and the second connecting portion are respectively connected to two opposite sides of the middle portion, the first connecting portion and the second connecting portion are both rectangular, and the middle portion is square.
Further, the structure of the first multi-walled carbon nanotube film is the same as the structure of the second multi-walled carbon nanotube film.
According to another aspect of the present invention, there is provided a method of manufacturing a flexible sensor for human muscle measurement as described above, the method comprising the steps of:
(1) preparing a third elastomer layer, and preparing a first multi-walled carbon nanotube film on the third elastomer layer by adopting a spraying mode;
(2) preparing a second elastomeric layer on the first multi-walled carbon nanotube film; and preparing a second multi-walled carbon nanotube film on the second elastomeric layer;
(3) preparing a first elastomer layer on the second multi-walled carbon nanotube film, thereby obtaining the flexible sensor.
Further, the third elastomer layer, the second elastomer layer, and the first elastomer layer were coated with a platinum-catalyzed silica gel solution and then heated at 70 ℃ for 30 minutes.
In general, compared with the prior art through the above technical solutions of the present invention, the flexible sensor for measuring human muscle deformation and the manufacturing method thereof provided by the present invention mainly have the following features
Has the advantages that:
1. the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are mutually independent to form two strain sensors so as to realize measurement of strains in two directions which are mutually vertical in a measurement plane; the area where the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are overlapped mutually forms a parallel plate capacitance sensor to measure the pressure which is applied to the flexible sensor and is perpendicular to the measuring plane, so that the measurement of the active and passive states is realized, the applicability and the flexibility are improved, and the functions are complete.
2. The elastic body is made of transparent platinum catalytic silica gel, the thickness of the flexible sensor is smaller than 1 mm, the flexible sensor has very good tensile property, can be well attached to the skin, and has very good wearability.
3. The flexible sensor is manufactured by layered forming, so that the operation is simple and the implementation is easy; the first multi-walled carbon nanotube film and the second multi-walled carbon nanotube film are embedded in the elastic body, so that the flexible sensor is compact in structure.
4. The invention adopts the multi-walled carbon nanotube film as the electrode, and the multi-walled carbon nanotube has extremely high strength and toughness and excellent mechanical property, thereby having better extensibility and flexibility.
Drawings
FIG. 1 is a schematic structural diagram of a flexible sensor for measuring human muscle deformation according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the measurement principle of the flexible sensor for human muscle deformation measurement in FIG. 1;
FIG. 3 is a schematic flow chart of the manufacturing process of the flexible sensor for measuring human muscle deformation in FIG. 1;
fig. 4 is a schematic diagram of a resistance measurement circuit of the flexible sensor for human muscle deformation measurement of fig. 1.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-a first elastomer layer, 2-a second elastomer layer, 3-a third elastomer layer, 4-a first multi-walled carbon nanotube film, 5-a second multi-walled carbon nanotube film, 6-a copper wire, 7-conductive silver colloid, 8-an aluminum substrate, 9-a spray pen and 10-a mask plate.
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.
Referring to fig. 1, 2 and 4, a flexible sensor for measuring human muscle deformation according to a preferred embodiment of the present invention includes an elastic body, a first multi-walled carbon nanotube film 4 and a second multi-walled carbon nanotube film 5 embedded in the elastic body, and a copper wire 6, wherein the first multi-walled carbon nanotube film 4 and the second multi-walled carbon nanotube film 5 are disposed at an interval and are independent from each other. The two ends of the first multi-walled carbon nanotube film 4, which are back to back, and the two ends of the second multi-walled carbon nanotube film 5, which are back to back, are respectively connected with the copper wires 6, and the copper wires 6 protrude out of the elastic body and are used for being connected with an external measuring circuit.
The elastomer is made of transparent platinum-catalyzed silica gel, which is substantially rectangular. The elastic body is used for bearing the first multi-walled carbon nanotube film 4 and the second multi-walled carbon nanotube film 5, and comprises a first elastic body layer 1, a second elastic body layer 2 and a third elastic body layer 3, wherein the second multi-walled carbon nanotube film 5 is arranged on the third elastic body layer 3, and the second elastic body layer 2 is arranged on the third elastic body layer 3 and covers the second multi-walled carbon nanotube film 5. The first multi-walled carbon nanotube film 4 is arranged on the second elastomer layer 2, the first elastomer layer 1 is arranged on the second elastomer layer 2 and it covers the first multi-walled carbon nanotube film 4.
The first multi-walled carbon nanotube film 4 and the second multi-walled carbon nanotube film 5 are perpendicular to each other, and are respectively independent strain sensors. The first multi-walled carbon nanotube film 4 is substantially in a shape like a Chinese character 'zhong', and includes a first connecting portion, a second connecting portion and a middle portion, the first connecting portion and the second connecting portion are respectively connected to two opposite sides of the middle portion, and the first multi-walled carbon nanotube film 4 is connected to the copper wire 6 through the first connecting portion and the second connecting portion. In this embodiment, the first connecting portion and the second connecting portion are both rectangular, and the middle portion is square; the structure of the first multi-walled carbon nanotube film 4 is the same as that of the second multi-walled carbon nanotube film 5, and the middle part of the first multi-walled carbon nanotube film 4 is overlapped with that of the second multi-walled carbon nanotube film 5 in the thickness direction of the flexible sensor to form a parallel plate capacitor structure.
When the flexible sensor works, the first connecting part and the second connecting part generate obvious resistance change when being strained, and the initial resistance value R1 of the first multi-walled carbon nanotube film 4 changes along with the strain when the flexible sensor generates transverse strain; when the flexible sensor generates longitudinal strain, the initial resistance value R2 of the second multi-walled carbon nanotube film 5 changes; when the flexible sensor is pressed along the thickness direction of the flexible sensor, the distance between the first multi-walled carbon nanotube film 4 and the second multi-walled carbon nanotube film 5 is changed, so that the capacitance formed by the middle part of the first multi-walled carbon nanotube film 4 and the middle part of the second multi-walled carbon nanotube film 5 is changed, and the flexible sensor can simultaneously measure the strain in two directions perpendicular to each other in a plane and the pressure in the direction perpendicular to the plane. In this embodiment, the measurement plane is a horizontal plane.
Referring to fig. 3, the present invention further provides a method for manufacturing a flexible sensor for measuring human muscle deformation, where the method for manufacturing the flexible sensor for measuring human muscle deformation includes the following steps:
step one, a third elastomer layer is prepared on the aluminum substrate.
Specifically, an aluminum substrate 8 is provided, and after two parts of platinum catalytic silica gel solution A, B are mixed and stirred uniformly according to the mass ratio of 1:1, the mixture is placed in vacuum for 15 minutes to remove bubbles; next, the prepared platinum-catalyzed silica gel solution was coated on the aluminum substrate 8 using an automatic tape coater, and heated at 70 ℃ for 30 minutes to obtain the third elastomer layer 3.
And step two, preparing a first multi-walled carbon nanotube film on the third elastomer layer.
Specifically, the multi-walled carbon nanotube powder is added into a 95% absolute ethyl alcohol solution, an ultrasonic disperser is used for dispersing for 30 minutes, and a mask plate 10 is covered on the third elastomer layer 3; and then, the obtained carbon nanotube ethanol dispersion liquid is sprayed and printed on the third elastomer layer 3 by using a spray pen 9, and spraying is carried out again after ethanol is volatilized, and the spraying is repeated for 3 to 4 times, so that the uniform first multi-walled carbon nanotube film 4 is formed on the third elastomer layer 3.
And thirdly, respectively connecting two opposite ends of the first multi-walled carbon nanotube film 4 with copper leads 6. Specifically, the two ends of the copper enameled wire are polished by sand paper to remove insulating paint at the two ends, the copper enameled wire is fixed at the two ends of the first multi-walled carbon nanotube film, which are opposite to each other, by conductive silver adhesive 7, the copper enameled wire is heated at 70 ℃ for 20min to solidify the conductive silver adhesive 7, and therefore the two ends of the first multi-walled carbon nanotube film 4, which are opposite to each other, are respectively connected with the copper lead 6.
And step four, preparing a second elastomer layer 2 on the first multi-walled carbon nanotube film. Specifically, after the elastomer is cured, the first carbon nanotube film 4 and the copper wire 6 connected thereto are embedded in the first elastomer layer 2 and the second elastomer layer 3, similar to the first step.
Step five, preparing a second multi-walled carbon nanotube film 5 on the second elastomer layer 2; then, connecting two opposite ends of the second multi-walled carbon nanotube film 5 with copper leads 6 respectively; finally, a first elastomer layer 1 is prepared on the second multi-walled carbon nanotube film 5, and the aluminum substrate 8 is removed to obtain the flexible sensor. The mask plate 10 needs to be rotated by 90 ° when the second multi-walled carbon nanotube film 5 is prepared, so as to ensure that the first multi-walled carbon nanotube film 4 and the second multi-walled carbon nanotube film 5 are perpendicular to each other.
The resistance data acquisition of the flexible sensor uses a voltage division circuit, corresponding resistance is obtained by respectively measuring the voltage at two ends of the first multi-walled carbon nanotube film 4 and the voltage at two ends of the second multi-walled carbon nanotube film 5, and the resistance has a fixed relation with corresponding strain, specifically:
R11＝R0×U1/(U-U1) (1)
R21＝R0×U2/(U-U2) (2)
1＝f(R11) (3)
2＝f(R21) (4)
in the formula, R0Is a series fixed resistor; r11Resistance of the first multiwalled carbon nanotube film when strain is generated; u shape1Is the voltage across the first multi-walled carbon nanotube film; u is the total voltage; r21Resistance of the second multiwalled carbon nanotube film when strain is generated; u shape2Is the voltage across the second multi-walled carbon nanotube film;1is the transverse strain experienced by the flexible sensor; f (R)11) For calibrating the obtained strain1The calculation formula of (2);2is the longitudinal strain experienced by the flexible sensor; f (R)21) For calibrating the obtained strain2The calculation formula of (2).
According to the flexible sensor for measuring the muscle deformation of the human body and the preparation method thereof, the two multi-walled carbon nanotube films are vertically arranged and are respectively embedded in the elastic body, the two multi-walled carbon nanotube films are respectively independent strain sensors to realize the strain of two mutually vertical directions of a measuring plane, and the overlapped part of the two multi-walled carbon nanotube films can measure the pressure of the sensor vertical to the measuring plane, so that the active and passive states can be measured, the structure is simple, the operation is easy, and the applicability is strong.
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 (10)
1. A flexible sensor for measuring deformation of a muscle of a human body, comprising:
the flexible sensor comprises a first elastomer layer (1), a second elastomer layer (2), a third elastomer layer (3), a first multi-walled carbon nanotube film (4) and a second multi-walled carbon nanotube film (5); the first multi-walled carbon nanotube film (4) is arranged on the third elastomeric layer (3), the second elastomeric layer (2) is arranged on the third elastomeric layer (3) and it covers the first multi-walled carbon nanotube film (4); the second multi-walled carbon nanotube film (5) is arranged on the second elastomer layer (2), the first elastomer layer (1) is arranged on the second elastomer layer (2) and covers the second multi-walled carbon nanotube film (5); the first multi-walled carbon nanotube film (4) and the second multi-walled carbon nanotube film (5) are perpendicular to each other, and an overlapping area is formed between the first multi-walled carbon nanotube film (4) and the second multi-walled carbon nanotube film (5);
the first multi-walled carbon nanotube film (4) and the second multi-walled carbon nanotube film (5) are mutually independent to form two strain sensors so as to realize measurement of strains in two directions which are mutually vertical in a measurement plane; the area where the first multi-walled carbon nanotube film (4) and the second multi-walled carbon nanotube film (5) overlap each other constitutes a parallel plate capacitive sensor for measuring the pressure perpendicular to the measuring plane to which the flexible sensor is subjected.
2. A flexible sensor for human muscle deformation measurement as claimed in claim 1, wherein: when the flexible sensor generates transverse strain, the initial resistance value of the first multi-walled carbon nanotube film (4) is changed, and the transverse strain is calculated based on the resistance value change of the first multi-walled carbon nanotube film (4).
3. A flexible sensor for human muscle deformation measurement as claimed in claim 1, wherein: when the flexible sensor generates longitudinal strain, the initial resistance value of the second multi-walled carbon nanotube film (5) is changed, and the longitudinal strain is calculated based on the resistance value variation of the second multi-walled carbon nanotube film (5).
4. A flexible sensor for human muscle deformation measurement as claimed in claim 1, wherein: when the flexible sensor is pressed along the thickness direction of the flexible sensor, the capacitance formed by the overlapped area of the first multi-wall carbon nanotube film (4) and the second multi-wall carbon nanotube film (5) is changed, and the pressure applied to the flexible sensor is obtained based on the obtained capacitance change amount.
5. A flexible sensor for human muscle deformation measurement according to any one of claims 1 to 4, wherein: the two ends of the first multi-walled carbon nanotube film (4) which are back to back and the two ends of the second multi-walled carbon nanotube film (5) which are back to back are respectively connected with a copper wire (6), and the copper wires (6) are connected to an external measuring circuit during working.
6. A flexible sensor for human muscle deformation measurement according to any one of claims 1 to 4, wherein: the first elastomer layer (1), the second elastomer layer (2) and the third elastomer layer (3) constitute an elastomer, and the first multi-walled carbon nanotube film (4) and the second multi-walled carbon nanotube film (5) are embedded in the elastomer; the elastomer is made of transparent platinum-catalyzed silica gel.
7. A flexible sensor for human muscle deformation measurement according to any one of claims 1 to 4, wherein: the first multi-walled carbon nanotube film (4) is in a Chinese character 'zhong' shape and comprises first connecting portions, second connecting portions and a middle portion, the first connecting portions and the second connecting portions are connected to two sides of the middle portion in a back-to-back mode respectively, the first connecting portions and the second connecting portions are rectangular, and the middle portion is square.
8. The flexible sensor for human muscle deformation measurement according to claim 7, wherein: the structure of the first multi-walled carbon nanotube film (4) is the same as the structure of the second multi-walled carbon nanotube film (5).
9. A method for manufacturing a flexible sensor for measuring deformation of muscles of the human body according to any one of claims 1 to 8, comprising the steps of:
(1) preparing a third elastomer layer (3), and preparing a first multi-walled carbon nanotube film (4) on the third elastomer layer (3) by adopting a spraying mode;
(2) -preparing a second elastomeric layer (2) on said first multi-walled carbon nanotube film (4), and preparing a second multi-walled carbon nanotube film (5) on said second elastomeric layer (2);
(3) -preparing a first elastomeric layer (1) on said second multi-walled carbon nanotube film (5), thereby obtaining said flexible sensor.
10. The method of manufacturing a flexible sensor for measurement of human muscle deformation of claim 9, wherein: the third elastomer layer (3), the second elastomer layer (2) and the first elastomer layer (1) are all obtained by coating a platinum-catalyzed silica gel solution and then heating the coated solution at 70 ℃ for 30 minutes.
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