CN114209304A - Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof - Google Patents
Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof Download PDFInfo
- Publication number
- CN114209304A CN114209304A CN202111443941.9A CN202111443941A CN114209304A CN 114209304 A CN114209304 A CN 114209304A CN 202111443941 A CN202111443941 A CN 202111443941A CN 114209304 A CN114209304 A CN 114209304A
- Authority
- CN
- China
- Prior art keywords
- flexible
- magnetic
- dimensional
- elastic layer
- film
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002360 preparation method Methods 0.000 title abstract description 6
- 238000005259 measurement Methods 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 239000000758 substrate Substances 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims abstract description 9
- 239000007787 solid Substances 0.000 claims description 28
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 24
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 24
- -1 polydimethylsiloxane Polymers 0.000 claims description 23
- 239000006247 magnetic powder Substances 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 14
- 239000000843 powder Substances 0.000 claims description 12
- 229920005570 flexible polymer Polymers 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 10
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical group [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 8
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 229940090961 chromium dioxide Drugs 0.000 claims description 6
- IAQWMWUKBQPOIY-UHFFFAOYSA-N chromium(4+);oxygen(2-) Chemical compound [O-2].[O-2].[Cr+4] IAQWMWUKBQPOIY-UHFFFAOYSA-N 0.000 claims description 6
- AYTAKQFHWFYBMA-UHFFFAOYSA-N chromium(IV) oxide Inorganic materials O=[Cr]=O AYTAKQFHWFYBMA-UHFFFAOYSA-N 0.000 claims description 6
- QRXDDLFGCDQOTA-UHFFFAOYSA-N cobalt(2+) iron(2+) oxygen(2-) Chemical compound [O-2].[Fe+2].[Co+2].[O-2] QRXDDLFGCDQOTA-UHFFFAOYSA-N 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- CZMRCDWAGMRECN-UGDNZRGBSA-N Sucrose Chemical compound O[C@H]1[C@H](O)[C@@H](CO)O[C@@]1(CO)O[C@@H]1[C@H](O)[C@@H](O)[C@H](O)[C@@H](CO)O1 CZMRCDWAGMRECN-UGDNZRGBSA-N 0.000 claims description 2
- 229930006000 Sucrose Natural products 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 150000003839 salts Chemical class 0.000 claims description 2
- 239000005720 sucrose Substances 0.000 claims description 2
- 239000010408 film Substances 0.000 claims 11
- 239000010409 thin film Substances 0.000 claims 2
- 230000008859 change Effects 0.000 abstract description 17
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 235000013870 dimethyl polysiloxane Nutrition 0.000 description 17
- 238000009826 distribution Methods 0.000 description 8
- 230000006698 induction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
- 238000010827 pathological analysis Methods 0.000 description 1
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Dentistry (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Physiology (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an amphibious flexible three-dimensional force position measuring device, a preparation method and application thereof. The device comprises: the flexible substrate layer, the elastic layer and the flexible magnetic film are arranged from bottom to top in sequence; wherein, a magnetic measurement module and a control module are arranged in the flexible substrate layer; the flexible magnetic film is pulled to generate magnetic field change in the three-dimensional direction, the magnetic measurement module is used for obtaining three-dimensional magnetic field variation, and the control module is used for converting the three-dimensional magnetic field variation into three-dimensional force or displacement to be output. The invention detects the nonlinear deformation displacement of the flexible body under the three-dimensional load, increases the measurement dimension, can effectively solve the problem of identification of motion modes such as turning and the like, can realize the human-computer interaction function in the complex amphibious environment, does not need secondary calibration, and solves the difficult problems of poor environmental adaptability, low sensing dimension and the like of the traditional flexible sensor.
Description
Technical Field
The invention belongs to the technical field of human motion detection and human-computer interaction, and particularly relates to an amphibious flexible three-dimensional force position measuring device, a preparation method and application thereof.
Background
With the rapid development of intelligent medical treatment and intelligent robots, the human motion information has increasingly prominent effects on pathological diagnosis, robot control and the like. The man-machine interaction device based on multi-dimensional force and deformation perception has wide application prospects in the aspects of motion state measurement, health monitoring, medical diagnosis, robot control and the like.
At present, the conventional plantar force measuring devices are all used for measuring one-dimensional pressure, for example, the sensing device is used for measuring the vertical pressure after being translated or deformed in the vertical direction to cause the change of magnetic flux. However, the measurement of the one-dimensional force is significantly insufficient, and for example, when the human body daily movement pattern recognition is performed, the recognition accuracy of the movement such as a high turning is low, and the recognition rate by the measurement of the one-dimensional force is shown in the following table. As another example, in performing dynamic balance measurements, three-dimensional force calculations are required to extrapolate the center of mass to evaluate balance. However, an effective three-dimensional force sensing device is still lacking.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an amphibious flexible three-dimensional force position measuring device, a preparation method and application thereof, aiming at realizing detection of three-dimensional force or displacement by acquiring three-dimensional magnetic field variation, thereby solving the technical problems of poor environmental adaptability, low sensing dimensionality and the like of the traditional flexible sensor.
According to an aspect of the present invention, there is provided an amphibious flexible three-dimensional force position measuring device, comprising: the flexible substrate layer, the elastic layer and the flexible magnetic film are arranged from bottom to top in sequence; wherein, a magnetic measurement module and a control module are arranged in the flexible substrate layer; the flexible magnetic film is pulled to generate magnetic field change in the three-dimensional direction, the magnetic measurement module is used for obtaining three-dimensional magnetic field variation, and the control module is used for converting the three-dimensional magnetic field variation into three-dimensional force or displacement to be output.
Preferably, the flexible magnetic film comprises a flexible polymer film and solid powder with magnetism uniformly distributed in the flexible polymer film, and the magnetic field intensity of the flexible magnetic film is 4mT-20 mT; preferably, the flexible polymer film is a polydimethylsiloxane film, and the magnetic solid powder is neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder or chromium dioxide magnetic powder. Preferably, the magnetic measurement module is a three-dimensional hall element or a magnetoresistive sensor, and the control module is a single chip microcomputer.
Preferably, the elastic layer is an elastic layer with a cavity structure, an elastic layer with a solid structure or an elastic layer with a porous structure; preferably, the elastic layer is polydimethylsiloxane having a porous structure.
According to another aspect of the invention, a preparation method of the amphibious flexible three-dimensional force position measuring device is provided, and the method comprises the following steps:
(1) mixing polydimethylsiloxane and magnetic solid powder, preparing a film by using a blade coating instrument, solidifying, and magnetizing the film by using magnetizing equipment to obtain a flexible magnetic film with the magnetic field intensity of 4mT-20 mT;
(2) placing the water-soluble solid particles in a mould, pouring polydimethylsiloxane into the mould, and after the polydimethylsiloxane is solidified, placing the polydimethylsiloxane into water to dissolve the water-soluble solid particles in the mould to form an elastic layer; the elastic layer is an elastic layer with a porous structure;
(3) solidifying polydimethylsiloxane to obtain a flexible substrate layer, and fixing a magnetic measurement module and a control module in the flexible substrate layer;
(4) and sequentially bonding the flexible magnetic film, the elastic layer and the flexible basal layer fixed with the magnetic measurement module and outputting electricity together to obtain the amphibious flexible three-dimensional force position measuring device.
Preferably, the solid powder with magnetism is neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder or chromium dioxide magnetic powder.
Preferably, the water-soluble solid particles are water-soluble salts or sucrose.
According to another aspect of the invention, the invention provides an application of an amphibious flexible three-dimensional force position measuring device, wherein a plurality of measuring devices are arranged at different positions on an insole, and the motion state detection of a human body is realized through sole three-dimensional force monitoring.
According to another aspect of the invention, an application of the amphibious flexible three-dimensional force position measuring device is provided. The measuring device is used as a force-position active control device and is used for acquiring three-dimensional motion information to realize human-computer real-time interaction.
In general, at least the following advantages can be obtained by the above technical solution contemplated by the present invention compared to the prior art.
(1) After the amphibious flexible three-dimensional force position measuring device provided by the invention is subjected to external acting force, the elastic layer is subjected to three-dimensional deformation under the action of external load, the flexible magnetic film is pulled to cause the change of a surrounding magnetic field, the magnetic measuring module can obtain 3 magnetic field changes of the flexible magnetic film in the three-dimensional direction, and the three-dimensional magnetic field change quantity is converted into three-dimensional force or displacement through the control module to be output, so that the measurement can be completed. Specifically, the method comprises the following steps: the constant magnetic field generated by the flexible magnetic film is not uniformly distributed in a three-dimensional space, and the spatial position relative to the magnetic film can be determined through the three-dimensional magnetic field intensity. In the invention, a flexible magnetic film is attached to the surface of an elastic body (an elastic layer), and the three-dimensional deformation of the elastic body pulls the flexible magnetic film to displace; a magnetic measurement module (such as a Hall element) at the bottom of the elastic body monitors the change of a three-dimensional magnetic field, the change of the magnetic field is a common result of three-dimensional deformation of the elastic body and the flexible magnetic body, and the change of the spatial position of the flexible magnetic film or the change displacement of the elastic body at the position of the flexible magnetic film can be inverted. A theoretical model of the stress and the external load of the elastic body can be established through finite element analysis of the elastic body, and three-dimensional force information is further obtained through the three-dimensional deformation of the elastic body. Therefore, the measurement signal of the magnetic measurement module reflects the three-dimensional deformation of the magnetic elastic body, the three-dimensional deformation of the elastic body can be inverted through the change of the three-dimensional magnetic field, and the three-dimensional load on the measurement device can be further determined through calibration. Therefore, the invention increases the measurement dimension and effectively solves the difficult problem of identifying the motion modes such as turning.
(2) The flexible magnetic film is adopted, the flexible magnetic film is light in weight, the base material of the flexible magnetic film can be the same as that of the elastic layer, the flexible magnetic film and the elastic layer have good compatibility, the flexible magnetic film can deform along with the deformation of the elastic layer, and even if the three-dimensional deformation of the elastic layer is very small, the flexible magnetic film can be pulled along with the deformation of the elastic layer to generate tiny three-dimensional deformation. Moreover, the flexible magnet of the invention can conform to the nonlinear deformation of the sole of the foot. Compared with the traditional solid magnet, the solid magnet cannot effectively generate three-dimensional deformation, and the solid magnet and the adhered elastic body are made of completely different materials, so that the problems of cavities at the adhered part, insecure adhesion and the like are easily caused. In addition, the rigid solid magnet influences the natural gait of the human body when being used as an insole and the like, and the measurement accuracy cannot be ensured.
(3) In the invention, the measurement range and precision can be adaptively changed according to material proportion, configuration (solid, cavity, porous and the like), size (length, width and height) and the like.
(4) The magnetic measurement module (for example, Hall element) of this patent can the lug weld on flexible circuit board or chip-type circuit board, and the accuracy of measuring result can be guaranteed to the flexible basement.
(5) Because the traditional measuring signals based on the principles of capacitance, resistance, piezoelectric measurement and the like are easily interfered by factors such as ambient temperature, humidity and the like, in water, the dielectric constant of the measuring device is changed to easily cause the deviation of the measuring result. The magnetic measurement module and the control module are arranged in the flexible substrate layer, the magnetic field distribution is not influenced by the underwater environment, and the deformation of the flexible magnetic film and the porous elastic body in the underwater environment still causes the change of the surrounding magnetic field, so that the requirement of the application in the amphibious environment can be met. Because the relative magnetic permeability of air and water is about 1, the amphibious flexible three-dimensional force measuring device provided by the invention does not need secondary calibration when being switched and used in an amphibious environment.
(6) The device provided by the invention is made of flexible materials, has the characteristics of small size, softness and the like, can deform in accordance with the movement of a human muscle and bone system, has better wearability, and is favorable for popularization and application in the fields of wearable equipment, intelligent perception, rehabilitation medical treatment and the like.
(7) When the invention is applied to a plantar force measuring scene, a plurality of measuring devices are arranged at different positions on the insole, and a human body movement mode can be obtained by utilizing the data combination characteristics of a plurality of channels. Each sensing unit (measuring device) provides XYZ three-dimensional force data, then a neural network algorithm is used for carrying out classification training on motion modes, the trained models are used for predicting the motion modes of the human body in real time when the human body moves, the human body daily motion is identified, and the identification rate can reach 98.8% on average.
Drawings
FIG. 1 is a schematic structural diagram of an amphibious flexible three-dimensional force position measuring device provided by the invention;
FIG. 2 is a schematic diagram of the connection between the amphibious flexible three-dimensional force position measuring device provided by the invention and a control module and a terminal device;
fig. 3 (a) - (F) are data graphs acquired by the plantar pressure respectively through 6 measuring devices when the amphibious flexible three-dimensional force position measuring device provided by the invention is used for plantar pressure monitoring; fig. 3 (G) is a distribution position diagram of the 6 measuring devices on the sole of the foot;
fig. 4 (a) - (B) are two recognition rate graphs of human body movement patterns when the amphibious flexible three-dimensional force position measuring device provided by the invention is used for sole pressure monitoring.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-flexible magnetic film, 2-elastic layer, 3-flexible substrate layer and 4-magnetic measurement module.
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.
An embodiment of the present invention provides an amphibious flexible three-dimensional force position measuring device, referring to fig. 1, the device comprising: the flexible substrate layer 3, the elastic layer 2 and the flexible magnetic film 1 are arranged from bottom to top in sequence; wherein, a magnetic measurement module 4 and a control module connected with the magnetic measurement module 4 are arranged in the flexible substrate layer 3; the flexible magnetic film comprises an elastic layer 2, a magnetic measurement module 4 and a control module, wherein the elastic layer 2 deforms in three dimensions when stressed, the flexible magnetic film 1 is pulled to generate magnetic field changes in the three-dimensional direction, the magnetic measurement module 4 is used for obtaining three-dimensional magnetic field changes, and the control module is used for converting the three-dimensional magnetic field changes into three-dimensional force or displacement to be output.
It should be noted that the embodiment of the present invention does not limit the specific shape of the amphibious flexible three-dimensional force position measuring device, and the shape of the amphibious flexible three-dimensional force position measuring device may be adjusted according to the actual application scenario. For example, it may be a rectangular parallelepiped shown in fig. 1, or a cylinder shown in fig. 3 (G), and it can be understood by those skilled in the art that fig. 1 and fig. 3 (G) are only two examples of the embodiment of the present invention, and should not be construed as limiting the present invention.
The flexible magnetic film 1 comprises a flexible polymer film and solid powder with magnetism uniformly distributed in the flexible polymer film, and the magnetic field intensity of the flexible magnetic film 1 is 4mT-20 mT; preferably, the flexible polymer film is a polydimethylsiloxane film, and the magnetic solid powder is a hard magnetic material such as neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder, chromium dioxide magnetic powder and the like.
The magnetic measurement module 4 is a three-dimensional Hall element or a magnetic resistance sensor, and the control module is a single chip microcomputer. It will be understood by those skilled in the art that the specific structure of the elastic layer in the present invention may be changed according to the actual situation, and the elastic layer 2 is an elastic layer having a cavity structure, an elastic layer having a solid structure or an elastic layer having a porous structure; preferably, the elastic layer 2 is polydimethylsiloxane having a porous structure. The cavity-type elastic layer can effectively reduce stress concentration between the rigid chip and the flexible elastic body. The adaptive selection can be performed according to the actual application environment. Additionally, the polydimethylsiloxane in this example was PDMS available from Dow Corning, model SYLGARD 184.
Fig. 2 is a schematic diagram showing the connection between the human-computer interaction device and the control module and the terminal device, wherein the flexible circuit board 4 in the human-computer interaction device is connected with the control module, and the control module is connected with the terminal device through a data line.
The working principle of the measuring device provided by the embodiment is as follows: when the flexible magnetic film 1 is not stressed, the neodymium iron boron magnetic powder in the flexible magnetic film 1 generates a certain magnetic field distribution at the magnetic measurement module; when the flexible magnetic film 1 bears pressure, the flexible magnetic film 1 deforms, the neodymium iron boron magnetic powder displaces, and a new magnetic field distribution is generated at the magnetic measurement element. The magnetic measurement module senses magnetic signals distributed by a magnetic field, converts the magnetic signals into electric signals to be output, and the output signals change along with the pressure on the flexible magnetic film. The control module receives the electric signal and transmits the electric signal to the terminal equipment, the control module can adopt a single chip microcomputer, and the terminal equipment can be a computer, a smart phone and the like.
It should be noted that, a specific process of the control module for converting the three-dimensional magnetic field variation into a three-dimensional force to output is as follows:
(1) calculating the magnetic induction intensity of any point p (x, y, z) outside the cylinder by the Biao-Saval law and the magnetic field superposition principle as follows:
wherein,
represents the source point (x)0,y0,z0) Diameter losing;
represents field point p (x, y, z) loss; mu.s0Represents the vacuum permeability;
representing the integration path and l the source current.
The magnetic induction intensity of the cylindrical permanent magnet space obtained by volume division is as follows:
thereby establishing magnetic induction intensity (B)x，By,Bz) And displacement (x, y, z), wherein r0Represents the radius of the cylindrical magnet, (r, theta, h) represents the coordinate variable of a point in the cylindrical coordinate system, Bx,By,BzAnd (3) representing the magnetic induction intensity of the P point XYZ in three directions.
(2) And establishing a mechanical equation of the super-elastic material, and establishing a relation between force and displacement, thereby inverting the magnitude of the three-dimensional force through the change of the magnetic field.
δz＝Eεz
Wherein epsilonzRepresenting the strain component in the Z direction, δzRepresenting a stress component in the Z direction, UzThe Z-direction deformation amount is shown, h is the height of the elastic layer, A is the upper surface area of the elastic layer, and E is the elastic modulus.
τx＝Gγx
Wherein, γxRepresenting the strain component in the x-direction, τxRepresenting the stress component in the x-direction, UxDenotes the amount of deformation in the X direction, and h denotes the height of the elastic layerWhere A represents the surface area on the elastic layer and G represents the shear modulus.
By the same method
Wherein tau isyDenotes the stress component in the y direction, A denotes the surface area on the elastic layer, G denotes the shear modulus, UyThe amount of deformation in the Y direction is shown, and h is the elastic layer height.
UX、UY、UZThe solution can be obtained by the permanent magnet space magnetic induction equation.
Another embodiment of the present invention provides a method for manufacturing an amphibious flexible three-dimensional force position measuring device, comprising the following steps:
(1) mixing polydimethylsiloxane and magnetic solid powder, preparing a film by using a blade coating instrument, solidifying, and magnetizing the film by using magnetizing equipment to obtain a flexible magnetic film with the magnetic field intensity of 4mT-20 mT;
(2) placing the water-soluble solid in a mould, pouring polydimethylsiloxane into the mould, and after the polydimethylsiloxane is solidified, placing the polydimethylsiloxane into water to dissolve the water-soluble solid in the mould to form an elastic layer;
(3) solidifying polydimethylsiloxane to obtain a flexible substrate layer, and fixing a magnetic measurement module and a control module in the flexible substrate layer;
(4) and sequentially bonding the flexible magnetic film, the elastic layer and the flexible substrate layer fixed with the magnetic measurement module and outputting electricity together to obtain the amphibious flexible three-dimensional force measurement device.
The flexible polymer film is a polydimethylsiloxane film, and the magnetic solid powder is a hard magnetic material such as neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder, chromium dioxide magnetic powder and the like.
The amphibious flexible three-dimensional force position measuring device provided by the invention is particularly suitable for the field of man-machine interaction.
In yet another embodiment of the present invention, the measuring device is used as a force-position active control device for acquiring three-dimensional motion information in real time. For example, the measuring device is used as a fingertip mouse. Specifically, the invention can sense the three-dimensional magnetic field change, when the finger controls the magnetic film to move, the acting force applied by the finger causes the nonlinear deformation of the flexible magnetic film and the porous elastic body, and a new magnetic field distribution is generated at each magnetic field measuring point, so that an electric signal output is generated, and the three-dimensional force applied by the finger to the magnetic film can be identified by monitoring different electric signals. If the electric signal is used as an input signal, the movement of the mouse can be controlled in the terminal equipment, and the human-computer interaction function can be realized.
In another embodiment of the invention, a plurality of measuring devices are arranged at different positions on the insole, and the motion state of the human body is detected by monitoring the three-dimensional force of the sole. Specifically, referring to fig. 3 (G), a plurality of measuring devices are arranged on the insole in an array manner, when a foot steps on the insole, three-dimensional acting forces are distributed differently in each sensing module, different three-dimensional load distributions cause nonlinear deformation of the flexible magnetic film and the elastic body, new magnetic field distributions are generated at each magnetic field measuring point, so that electric signals are generated for output, and the acting force distributions in different areas of the sole can be measured by monitoring different electric signals. The invention can realize dynamic monitoring of the change of sole acting force in the directions of a horizontal plane, a coronal plane and a sagittal plane in various amphibious motions such as walking, running, ascending and descending stairs, breaststroke, free swimming, butterfly swimming and the like.
In this embodiment, only 6 measuring devices are used to realize the distributed detection of the three-dimensional force on the sole, thereby realizing the detection of the motion state of the human body. The method is completely different from the traditional method for detecting sole one-dimensional pressure, and when the traditional method is used for detecting sole one-dimensional pressure, more measuring devices need to be distributed in space to increase the spatial arrangement density and improve the detection precision. However, according to research in the invention, when the measuring device provided by the invention is used, the average recognition rate of 7 gaits such as walking on flat ground, ascending/descending slope, ascending/descending stairs, left/right turning and the like can reach 98.9% only by adopting 6 measuring devices, which is far more than 83.4% of the average recognition rate measured by adopting 6 one-dimensional pressure sensors in the prior art.
The plantar pressure acquisition results are shown in fig. 3 (a) - (F), and the conclusions are as follows:
(1) the No. 6 sensor is positioned at the front end of the sole, and the signal of the sensor is in a peak shape, which represents that the stress duration is short; (2) the sensor is positioned at the rear end of the sole, the deformation quantity of the sensor in the gravity direction is maximum, and the sensor represents the maximum stress; (3) all sensors have obvious signal change in the X direction and unobvious signal change in the Y direction, and represent the horizontal friction direction along the walking advancing direction when walking. The preliminary test result verifies the effectiveness of the three-dimensional force sensing method in the aspect of plantar force measurement.
The result of human motion pattern recognition based on plantar pressure is shown in fig. 4 (a) - (B), the average recognition rate of the method is 98.9% for human daily motions such as straight walking, left and right turning, going up and down stairs, going up and down slopes and the like, and the experimental result verifies the effectiveness of the three-dimensional force position measuring device in dynamically monitoring human motion.
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. An amphibious flexible three-dimensional force position measuring device, characterized in that the device comprises: the flexible substrate layer (3), the elastic layer (2) and the flexible magnetic film (1) are arranged from bottom to top in sequence; wherein a magnetic measurement module (4) and a control module are arranged in the flexible substrate layer (3);
the flexible magnetic film is characterized in that the elastic layer (2) deforms three-dimensionally when stressed, the flexible magnetic film (1) is pulled to generate magnetic field changes in the three-dimensional direction, the magnetic measurement module (4) is used for acquiring three-dimensional magnetic field changes, and the control module is used for converting the three-dimensional magnetic field changes into three-dimensional force or displacement to be output.
2. The device according to claim 1, wherein the flexible magnetic film (1) comprises a flexible polymer thin film and a solid powder having magnetism uniformly distributed in the flexible polymer thin film, and the magnetic field strength of the flexible magnetic film (1) is 4mT-20 mT; preferably, the flexible polymer film is a polydimethylsiloxane film, and the magnetic solid powder is neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder or chromium dioxide magnetic powder.
3. The device according to claim 1 or 2, characterized in that the magnetic measuring module (4) is a three-dimensional hall element or a magnetoresistive sensor, and the control module is a single-chip microcomputer.
4. The device according to claim 1, characterized in that the elastic layer (2) is an elastic layer with a cavity structure, an elastic layer with a solid structure or an elastic layer with a porous structure; preferably, the elastic layer (2) is polydimethylsiloxane having a porous structure.
5. A method for manufacturing an amphibious flexible three-dimensional force position measuring device according to any one of claims 1-4, characterized in that the method comprises the following steps:
(1) mixing polydimethylsiloxane and magnetic solid powder, preparing a film by using a blade coating instrument, solidifying, and magnetizing the film by using magnetizing equipment to obtain a flexible magnetic film with the magnetic field intensity of 4mT-20 mT;
(2) placing the water-soluble solid particles in a mould, pouring polydimethylsiloxane into the mould, and after the polydimethylsiloxane is solidified, placing the polydimethylsiloxane into water to dissolve the water-soluble solid particles in the mould to form an elastic layer; the elastic layer is an elastic layer with a porous structure;
(3) solidifying polydimethylsiloxane to obtain a flexible substrate layer, and fixing a magnetic measurement module and a control module in the flexible substrate layer;
(4) and sequentially bonding the flexible magnetic film, the elastic layer and the flexible basal layer fixed with the magnetic measurement module and outputting electricity together to obtain the amphibious flexible three-dimensional force position measuring device.
6. The method according to claim 5, wherein the solid powder having magnetism is neodymium iron boron magnetic powder, cobalt-iron oxide magnetic powder or chromium dioxide magnetic powder.
7. The method of claim 5, wherein the water-soluble solid particles are water-soluble salts or sucrose.
8. Use of an amphibious flexible three-dimensional force position measuring device according to any one of claims 1-4, characterised in that a plurality of said measuring devices are arranged at different positions on the insole, and detection of the state of motion of the human body is achieved by means of plantar three-dimensional force monitoring.
9. The application of the amphibious flexible three-dimensional force position measuring device is characterized in that the measuring device is used as a force-position active control device and is used for acquiring three-dimensional motion information to realize real-time human-computer interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443941.9A CN114209304B (en) | 2021-11-30 | 2021-11-30 | Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443941.9A CN114209304B (en) | 2021-11-30 | 2021-11-30 | Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114209304A true CN114209304A (en) | 2022-03-22 |
| CN114209304B CN114209304B (en) | 2024-09-06 |
Family
ID=80699061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111443941.9A Active CN114209304B (en) | 2021-11-30 | 2021-11-30 | Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114209304B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114739541A (en) * | 2022-04-11 | 2022-07-12 | 中国科学院宁波材料技术与工程研究所 | Flexible touch sensor and application thereof |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104697678A (en) * | 2015-03-09 | 2015-06-10 | 中国科学院宁波材料技术与工程研究所 | Sensor for detecting weak stress and preparation method of sensor |
| EP2988107A1 (en) * | 2014-08-20 | 2016-02-24 | Verein zur Förderung von Innovationen durch Forschung, Entwicklung und Technologietransfer e.V. (Verein INNOVENT e.V.) | Assembly and method for magneto-tactile detection of forces |
| CN107732006A (en) * | 2017-09-02 | 2018-02-23 | 太原理工大学 | A kind of preparation method of the fexible film Magnetic Sensor based on nano material |
| CN108630379A (en) * | 2018-04-13 | 2018-10-09 | 中国科学院宁波材料技术与工程研究所 | A kind of two-way stretchable thin magnetic film and preparation method thereof with magnetic anisotropy |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
| CN111076805A (en) * | 2019-12-18 | 2020-04-28 | 天津大学 | Full-flexible electromagnetic vibration sensor based on folding film |
| CN111161937A (en) * | 2019-12-27 | 2020-05-15 | 浙江大学 | Magnetic field generation and control system based on magnet array and working method thereof |
| CN111993446A (en) * | 2020-07-03 | 2020-11-27 | 北京大学 | Magnetic field based flexible tactile sensor |
| CN112050802A (en) * | 2020-09-11 | 2020-12-08 | 哈尔滨工业大学 | Three-dimensional space high-precision positioning device and method based on single magnetic beacon |
| CN112659694A (en) * | 2020-12-21 | 2021-04-16 | 浙江清华柔性电子技术研究院 | Flexible actuator and method of making same |
| CN112717280A (en) * | 2020-12-31 | 2021-04-30 | 天津大学 | Multidirectional implanted flexible electronic device and preparation method thereof |
| CN113114066A (en) * | 2021-05-27 | 2021-07-13 | 天津大学 | Self-driven magnetic control flexible robot based on flexible folding magnetic film |
-
2021
- 2021-11-30 CN CN202111443941.9A patent/CN114209304B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2988107A1 (en) * | 2014-08-20 | 2016-02-24 | Verein zur Förderung von Innovationen durch Forschung, Entwicklung und Technologietransfer e.V. (Verein INNOVENT e.V.) | Assembly and method for magneto-tactile detection of forces |
| CN104697678A (en) * | 2015-03-09 | 2015-06-10 | 中国科学院宁波材料技术与工程研究所 | Sensor for detecting weak stress and preparation method of sensor |
| CN107732006A (en) * | 2017-09-02 | 2018-02-23 | 太原理工大学 | A kind of preparation method of the fexible film Magnetic Sensor based on nano material |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
| CN108630379A (en) * | 2018-04-13 | 2018-10-09 | 中国科学院宁波材料技术与工程研究所 | A kind of two-way stretchable thin magnetic film and preparation method thereof with magnetic anisotropy |
| CN111076805A (en) * | 2019-12-18 | 2020-04-28 | 天津大学 | Full-flexible electromagnetic vibration sensor based on folding film |
| CN111161937A (en) * | 2019-12-27 | 2020-05-15 | 浙江大学 | Magnetic field generation and control system based on magnet array and working method thereof |
| CN111993446A (en) * | 2020-07-03 | 2020-11-27 | 北京大学 | Magnetic field based flexible tactile sensor |
| CN112050802A (en) * | 2020-09-11 | 2020-12-08 | 哈尔滨工业大学 | Three-dimensional space high-precision positioning device and method based on single magnetic beacon |
| CN112659694A (en) * | 2020-12-21 | 2021-04-16 | 浙江清华柔性电子技术研究院 | Flexible actuator and method of making same |
| CN112717280A (en) * | 2020-12-31 | 2021-04-30 | 天津大学 | Multidirectional implanted flexible electronic device and preparation method thereof |
| CN113114066A (en) * | 2021-05-27 | 2021-07-13 | 天津大学 | Self-driven magnetic control flexible robot based on flexible folding magnetic film |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114739541A (en) * | 2022-04-11 | 2022-07-12 | 中国科学院宁波材料技术与工程研究所 | Flexible touch sensor and application thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114209304B (en) | 2024-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| An et al. | Biomimetic hairy whiskers for robotic skin tactility | |
| Wang et al. | Tactile sensing technology in bionic skin: A review | |
| Ledermann et al. | Tactile Sensor on a Magnetic Basis using novel 3D Hall sensor-First prototypes and results | |
| US9579801B2 (en) | Systems and methods for sensing objects | |
| Li et al. | Design and output characteristics of magnetostrictive tactile sensor for detecting force and stiffness of manipulated objects | |
| CN110426063B (en) | Dual-mode sensor and application thereof in pressure detection and strain process | |
| Alshawabkeh et al. | Highly stretchable additively manufactured capacitive proximity and tactile sensors for soft robotic systems | |
| Li et al. | F-touch sensor: Concurrent geometry perception and multi-axis force measurement | |
| CN107811616A (en) | A kind of flexible many reference amounts human body physical sign detector and its application method | |
| Shih et al. | 3D printed resistive soft sensors | |
| CN114209304A (en) | Amphibious flexible three-dimensional force position measuring device, preparation method and application thereof | |
| Yang et al. | Design and characterization of high-sensitivity magnetostrictive tactile sensor array | |
| CN114739541A (en) | Flexible touch sensor and application thereof | |
| Fang et al. | A petal-array capacitive tactile sensor with micro-pin for robotic fingertip sensing | |
| Levins et al. | A tactile sensor for an anthropomorphic robotic fingertip based on pressure sensing and machine learning | |
| Chuah et al. | Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer | |
| Zhao et al. | A tri-axial touch sensor with direct silicon to PC-board packaging | |
| Ibrahim et al. | Achievements and Open Issues Toward Embedding Tactile Sensing and Interpretation into Electronic Skin Systems | |
| WO2023180716A1 (en) | Force sensor | |
| Singh et al. | Indirect Force Measurement via Hamiltonian Monte Carlo based Probabilistic Model of FSR Sensor | |
| Li et al. | Improving robotic tactile localization super-resolution via spatiotemporal continuity learning and overlapping air chambers | |
| KR101764384B1 (en) | Strain sensor system and sensing method using it | |
| Zhang et al. | GPS-Inspired Stretchable Self-Powered Electronic Skin | |
| Gölz et al. | Sensor Design | |
| Chen et al. | Development and characterization of a highly sensitive magnetic electronic skin for intelligent manipulators |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |