CN116954366A - Touch perception glove based on sensor array - Google Patents
Touch perception glove based on sensor array Download PDFInfo
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- CN116954366A CN116954366A CN202310763802.7A CN202310763802A CN116954366A CN 116954366 A CN116954366 A CN 116954366A CN 202310763802 A CN202310763802 A CN 202310763802A CN 116954366 A CN116954366 A CN 116954366A
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- Prior art keywords
- circuit
- glove
- flexible circuit
- sensor array
- tactile
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- Pending
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- 230000008447 perception Effects 0.000 title description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 20
- 239000000741 silica gel Substances 0.000 claims abstract description 20
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 20
- 238000012805 post-processing Methods 0.000 claims abstract description 12
- 239000011241 protective layer Substances 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 10
- 210000001145 finger joint Anatomy 0.000 claims abstract description 9
- 239000010410 layer Substances 0.000 claims abstract description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 13
- 229910052802 copper Inorganic materials 0.000 claims description 13
- 239000010949 copper Substances 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 6
- 229920001296 polysiloxane Polymers 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 3
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 3
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims description 3
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 3
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims description 3
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 claims description 3
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 3
- 230000035807 sensation Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 239000013039 cover film Substances 0.000 claims description 2
- 230000026676 system process Effects 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 239000002994 raw material Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000003993 interaction Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000010408 film Substances 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D19/00—Gloves
Abstract
The invention relates to a touch sensing glove based on a sensor array, which belongs to the technical field of man-machine interaction equipment and comprises 2 layers of ultrathin flexible circuits, 14 finger joint touch sensors and 6 palm touch sensors, and 1 layer of silica gel protective layer, wherein the problems that the conventional touch glove is complex in wiring, electronic components are exposed and damaged, the manufacturing cost of electronic skin is high, the reliability is poor and the like are solved. The touch glove utilizes 2 layers of flexible circuits and 20 piezoresistive sensitive elements to form touch sensing elements and circuits, the touch sensing elements and the circuits are embedded into flexible silica gel in a silica gel curing mode and then sewn into the glove, the formed circuits are connected with a singlechip or other microcontroller systems through a signal post-processing circuit, and the stress position and the size of the glove can be accurately measured according to the resistance change of the detected sensitive elements; the glove can accurately sense hand motions and recognize different gestures, and can be applied to various fields such as man-machine interaction, teleoperation, rehabilitation monitoring, robot sensing and the like.
Description
Technical Field
The invention relates to the technical field of man-machine interaction equipment, in particular to a touch perception glove based on a sensor array.
Background
In recent years, virtual reality technology and artificial intelligence technology are rapidly developing, and haptic perception is receiving a great deal of attention as a key technology in this field. The touch sensing device has wide application prospect. In the field of industrial manufacturing, through virtual reality equipment, a manager can remotely control mechanical production equipment, so that production efficiency is improved. Engineers may utilize interactive devices for industrial design and modeling. In the medical field, intelligent medical prostheses can help disabled persons recover their sense of touch, enabling them to experience normal life. The doctor can perform remote precise operation through teleoperation. In some extreme conditions, such as nuclear reactors and disaster areas, intelligent devices may also be operated remotely in order to ensure the safety of the staff. In which the hands are effective and intuitive for people to interact with the environment, haptic gloves are an important haptic sensation device in these applications. By embedding the sensors on the glove surface or the finger positions, the touch glove can sense the gestures of the hand and the finger, thereby realizing the sensing of the characteristics of the shape, the hardness, the texture and the like of the object and further realizing more natural and visual man-machine interaction.
Some tactile glove products have appeared on the market at present, such as sewing strain gauges and lines thereof inside the glove, or directly sticking the strain gauges and lines thereof to hands by using artificial skin, but the tactile glove products still have limitations and disadvantages in terms of perception effect, reliability, usability and the like. On one hand, the number and the precision of the sensors of the products are limited, and the high-precision sensing of the objects cannot be realized; on the other hand, most gloves have complex mechanical structures and lines, are inconvenient to wear, and sometimes limit the hand motions. Therefore, the design of the haptic glove capable of realizing accurate perception has important research significance and application value. The high-precision and high-reliability touch glove can be widely applied to the fields of man-machine interaction, virtual reality, medical rehabilitation, robot control and the like, and has important economic and social benefits.
Disclosure of Invention
The invention aims at solving the problems in the background art, and provides a touch sensing glove based on a sensor array, which can be completely attached to a hand without limiting the movement of the hand and accurately detect the movement state of each joint of the hand.
The technical scheme of the invention is that the touch sensing glove based on the sensor array comprises a piezoresistive sensitive element, a flexible circuit, a post-processing circuit and a microcontroller system, and is characterized in that the flexible circuit is provided with an upper layer and a lower layer; a plurality of mounting areas are arranged on the upper flexible circuit and the lower flexible circuit, and the mounting areas are windowed and leak copper;
the piezoresistive sensing elements are arranged in a plurality, uniformly distributed on the palm surface of the haptic glove and arranged in the mounting area; the upper flexible circuit and the lower flexible circuit are combined with the piezoresistive sensitive elements to form a conducting circuit;
the flexible circuit and the piezoresistance sensitive element which are assembled into a whole are provided with a silica gel protective layer outside;
the piezoresistive sensitive elements are connected with the post-processing circuit through signals to sense the stress position and the stress;
the micro-controller system processes signals of the piezoresistive sensitive elements and the post-processing circuit.
The flexible circuit internal wiring at the upper part is a transverse row circuit, and the flexible circuit internal wiring at the lower part is a longitudinal column circuit
Or the inner wiring of the flexible circuit at the upper part is a longitudinal column circuit, and the inner wiring of the flexible circuit at the lower part is a transverse row circuit.
The piezoresistive sensor is a pressure-sensitive conductive sheet, and the resistance of the piezoresistive sensor changes after being stressed.
Preferably, 20 pressure-sensitive conductive sheets are arranged, namely 14 finger joint touch sensors and 6 palm touch sensors; wherein the finger joint touch sensor comprises 9 interphalangeal joints and 5 metacarpophalangeal joints.
Preferably, the pressure sensitive conductive sheet is attached to the mounting area of the flexible circuit using a plain conductive tape.
Preferably, the flexible circuit is made of 1 ounce of electrolytic copper with glue and yellow covering film on one side; the thickness of the total board of the upper flexible circuit and the lower flexible circuit is 0.13mm; the size of the mounting area of the flexible circuit is 3mm multiplied by 3mm; the tail end of the circuit is arranged at the wrist, and a copper leakage mounting area is also arranged, wherein the size of the copper leakage area is 1mm multiplied by 2.5mm.
The post-processing circuit is a voltage dividing circuit; the resistance transformation of the piezoresistive sensitive element is converted into voltage change, the voltage change value at two ends of the voltage dividing resistor is measured, and the stress position and the stress size are sensed.
Preferably, the microcontroller system is an Arm, a singlechip or a DSP control chip;
the touch glove line circuit lead is connected with the digital I/O port, the output end of the post-processing circuit is connected with the analog I/O port, and the change of the electric signal of the glove sensitive element is collected; and connecting the microcontroller system with a central processing unit for signal processing.
Preferably, the silicone protective layer uses two materials of liquid PDMS silicone to form a 1:1 into a measuring cup, fully stirring and mixing, and placing into a vacuum pump for vacuumizing to remove internal bubbles; then placing the flexible circuit on a smooth plane, smearing liquid silica gel on the surface of the circuit by using a fine hairbrush, standing for solidifying the silica gel, taking down and cutting according to the shape of the edge of the glove; the total thickness of the silica gel protective layer is 2mm.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the touch glove adopts a double-layer circuit structure with higher integration and expandability, and has the innovation that the two directions of the double-layer structure automatically form a passage for the sensors, when the number and the positions of the sensors need to be changed, only the windowing position of the flexible circuit is changed, and then the circuit wiring is changed, so that the structure is not affected; the position and number of the sensors can be changed according to the target measurement accuracy without affecting the complexity of the line.
2. The wiring of the invention adopts array wiring, which can reduce the number of signal wires and is beneficial to acquiring the state of the sensor by using a scanning mode.
3. The invention uses flexible circuit and silica gel protective sleeve to have the main functions: (1) the flexibility and wearing comfort of the touch glove are improved, and the touch glove is lightened. (2) Completely fit with the hands and do not affect the finger movement. (3) The flexible circuit may produce the crease when the hand moves, leads to the circuit to damage, and inside flexible circuit can be protected to the silica gel, extension product life-span.
Drawings
FIG. 1 is a block diagram of a haptic glove according to the present invention;
FIG. 2 is a circuit diagram of a haptic glove of the present invention;
FIG. 3 is a schematic structural view of a haptic glove of the present invention;
fig. 4 is a schematic structural diagram of a touch flexible circuit according to the present invention.
Reference numerals: 1. a piezoresistive sensor; 2. a flexible circuit; 3. and a silica gel protective layer.
Detailed Description
Example 1
As shown in fig. 1, the touch sensing glove based on the sensor array according to the present invention specifically includes:
the 20 piezoresistive sensitive elements 1 are used for measuring the compression condition of the finger joints and sensing the hand movement state. The sensitive elements are pressure-sensitive conductive sheets and are arranged at the positions of 14 finger joints and the palm, and the total number of the sensitive elements is 20 array sensors;
2 ultrathin flexible circuits 2, which are used for wiring, connecting 20 sensors in series in two directions of rows and columns to form an array for signal transmission;
the silica gel protective layer 3 is used for protecting the flexible circuit 2, embedding the flexible circuit 2 and the pressure-sensitive conductive sheet into the flexible silica gel in a silica gel curing mode, and solving the problem that the electronic components are exposed and damaged easily;
and the post-processing circuit is used for converting the resistance change of the sensitive element into voltage change, so that the signal acquisition is convenient.
And the microcontroller system is used for collecting the point signal change of the pressure-sensitive conducting strip and accurately measuring the stressed position and size of the glove. And then is connected with a central processing unit for signal processing, so as to realize the perception of hand motions.
Fig. 2 is a circuit diagram of a touch glove of the present invention, wherein the ultrathin flexible circuit 2 is made of 1 oz single-sided glued electrolytic copper and yellow cover film, and is manufactured by adopting a gold plating process, and the total thickness of the two flexible circuits 2 is 0.13mm. The two circuits have the same shape, wherein one circuit internal wiring is a transverse row circuit, and the other circuit is a Zhang Wei longitudinal column circuit. The two circuits are both windowed and exposed at the mounting position of the sensitive element, the size is 3mm multiplied by 3mm, the tail end of each circuit is arranged at the wrist, the copper is also windowed and exposed, the size of the copper exposing area of each circuit is 1mm multiplied by 2.5mm, and the subsequent welding of the lead is facilitated.
Fig. 3-4 are schematic structural diagrams of the tactile sensation glove of the present invention, and 20 piezoresistive sensing elements 1 are pressure-sensitive conductive sheets, whose resistance changes after being stressed. The 20 conductive sheets are respectively 14 finger joint touch sensors and 6 palm touch sensors, and the finger joints comprise 9 interphalangeal joints and 5 metacarpophalangeal joints. The conductive sheets are arranged at the corresponding joint positions and uniformly distributed on the palm. The pressure-sensitive conductive sheet is stuck on the copper exposure area of the flexible circuit 2 by adopting a plain conductive adhesive tape, so that the conduction of the two circuits is realized.
The silicone protective layer 3 will be used for the flexible circuit 2 protection. Two materials of liquid PDMS silica gel were mixed in 1:1 into a measuring cup, stirring and mixing thoroughly, and vacuum-pumping in a vacuum pump to remove internal bubbles. And then placing the flexible circuit 2 on a smooth plane, smearing liquid silica gel on the surface of the circuit by using a fine hairbrush, standing, taking down after the silica gel is solidified, and cutting according to the shape of the edge of the glove. The final silicone protective layer 3 had a thickness of 2mm.
In this embodiment, the pressure-sensitive conductive sheet is adhered to the copper-exposed area of the flexible circuit 2 by using a plain conductive tape, so as to realize the conduction of the two circuits. When the accuracy requirement of a measurement scene is improved, the number of sensors to be arranged is increased, and only the windowing position of the flexible circuit 2 is changed, and the sensors are connected in series in the transverse direction and the longitudinal direction to form a sensor array. The tactile glove sensor array can be designed in 8 rows and 4 columns as in fig. 4, with a more acute perception of hand motion.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The touch sensing glove based on the sensor array comprises a piezoresistive sensitive element (1), a flexible circuit (2), a post-processing circuit and a microcontroller system, and is characterized in that the flexible circuit (2) is provided with an upper layer and a lower layer; a plurality of mounting areas are arranged on the upper flexible circuit (2) and the lower flexible circuit (2), and the mounting areas are windowed and leak copper;
the piezoresistive sensitive elements (1) are arranged in a plurality, are uniformly distributed on the palm surface of the tactile glove and are arranged in the installation area; the upper flexible circuit (2) and the lower flexible circuit (1) are combined to form a conducting circuit;
the flexible circuit (2) and the piezoresistance sensitive element (1) which are assembled into a whole are provided with a silica gel protective layer (3) outside;
the piezoresistive sensitive elements (1) are connected with the post-processing circuit through signals to sense the stress position and the stress;
the micro-controller system processes signals of the piezoresistive sensitive element (1) and the post-processing circuit.
2. A tactile glove based on a sensor array according to claim 1, wherein the internal wiring of the upper flexible circuit (2) is a transverse row circuit and the internal wiring of the lower flexible circuit (2) is a longitudinal column circuit.
3. A tactile glove based on a sensor array according to claim 1, wherein the internal wiring of the upper flexible circuit (2) is a longitudinal column circuit and the internal wiring of the lower flexible circuit (2) is a transverse row circuit.
4. A tactile glove based on a sensor array according to claim 1, wherein the piezoresistive sensor element (1) is a pressure-sensitive conductive sheet, the resistance of which changes upon application of a force.
5. A tactile sensation glove according to claim 4, wherein 20 pressure-sensitive conductive sheets are provided, 14 finger joint tactile sensors and 6 palm tactile sensors, respectively; wherein the finger joint touch sensor comprises 9 interphalangeal joints and 5 metacarpophalangeal joints.
6. A tactile glove based on a sensor array according to claim 4, wherein the pressure sensitive conductive sheet is attached to the mounting area of the flexible circuit (2) using a plain conductive tape.
7. A tactile glove based on a sensor array according to claim 1, wherein the flexible circuit (2) is made of 1 oz single sided rubberized electrolytic copper and yellow cover film; the total thickness of the upper flexible circuit (2) and the lower flexible circuit (2) is 0.13mm; the size of the mounting area of the flexible circuit (2) is 3mm multiplied by 3mm; the tail end of the circuit is arranged at the wrist, and a copper leakage mounting area is also arranged, wherein the size of the copper leakage area is 1mm multiplied by 2.5mm.
8. A tactile glove based on a sensor array according to claim 1, wherein the post-processing circuit is a voltage divider circuit; the resistance transformation of the piezoresistive sensitive element (1) is converted into voltage change, the voltage change value of the two ends of the voltage dividing resistor is measured, and the stress position and the stress size are sensed.
9. A tactile glove based on a sensor array according to claim 1, wherein the microcontroller system is an Arm, a single chip or a DSP control chip;
the touch glove line circuit lead is connected with the digital I/O port, the output end of the post-processing circuit is connected with the analog I/O port, and the change of the electric signal of the glove sensitive element is collected; and connecting the microcontroller system with a central processing unit for signal processing.
10. A tactile glove based on a sensor array according to claim 1, characterized in that the silicone protective layer (3) uses two raw materials of liquid PDMS silicone in a ratio of 1:1 into a measuring cup, fully stirring and mixing, and placing into a vacuum pump for vacuumizing to remove internal bubbles; then placing the flexible circuit (2) on a smooth plane, smearing liquid silica gel on the surface of the circuit by using a fine hairbrush, standing until the silica gel is solidified, taking down and cutting according to the shape of the edge of the glove; the total thickness of the silica gel protective layer (3) is 2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310763802.7A CN116954366A (en) | 2023-06-27 | 2023-06-27 | Touch perception glove based on sensor array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310763802.7A CN116954366A (en) | 2023-06-27 | 2023-06-27 | Touch perception glove based on sensor array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116954366A true CN116954366A (en) | 2023-10-27 |
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ID=88448447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310763802.7A Pending CN116954366A (en) | 2023-06-27 | 2023-06-27 | Touch perception glove based on sensor array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116954366A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860254A (en) * | 2024-03-11 | 2024-04-12 | 浙江立久佳运动器材有限公司 | Hand electric stimulation feedback control system based on array pressure sensor |
| CN117860254B (en) * | 2024-03-11 | 2024-05-14 | 浙江立久佳运动器材有限公司 | Hand electric stimulation feedback control system based on array pressure sensor |
-
2023
- 2023-06-27 CN CN202310763802.7A patent/CN116954366A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860254A (en) * | 2024-03-11 | 2024-04-12 | 浙江立久佳运动器材有限公司 | Hand electric stimulation feedback control system based on array pressure sensor |
| CN117860254B (en) * | 2024-03-11 | 2024-05-14 | 浙江立久佳运动器材有限公司 | Hand electric stimulation feedback control system based on array pressure sensor |
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