CN206833368U - Sensing based on the carbon nano-tube film data glove integrated with driving - Google Patents
Sensing based on the carbon nano-tube film data glove integrated with driving Download PDFInfo
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- CN206833368U CN206833368U CN201720523146.3U CN201720523146U CN206833368U CN 206833368 U CN206833368 U CN 206833368U CN 201720523146 U CN201720523146 U CN 201720523146U CN 206833368 U CN206833368 U CN 206833368U
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Abstract
The utility model discloses a kind of sensing based on carbon nano-tube film data glove integrated with driving, including glove bulk is made by elastomeric material, the dorsal digital side external surface of glove bulk is pasted with carbon nano-tube film, dielectric elastomeric body thin film and flexible electrode film successively, in addition to：Deformation monitoring device, it is embedded into described carbon nano-tube film, monitors the deformation of the carbon nano-tube film of each dorsal digital side and analyzed and processed, obtain gesture attitude data；High-tension circuit, the two poles of the earth are connected with carbon nano-tube film and flexible electrode film respectively；Wireless communication module, the gesture attitude data that deformation monitoring device obtains is delivered to host computer, receives the drive signal that host computer is sent and send to high-tension circuit；Power supply, it is deformation monitoring device, wireless communication module, high-tension circuit power supply.The data glove does not need external sensor, realizes sensing certainly for data glove itself, while it is integrated with driving to realize sensing.
Description
Technical field
It the utility model is related to soft material sensing, drive control field, more particularly to one kind and be based on carbon nano-tube film
The sensing data glove integrated with driving.
Background technology
With the fast development of mankind's science and technology and its significantly lifting of productivity, there are numerous emerging high-tech productions
Product, permeate in every field such as the lives, work, amusement of people.It is non-in the past, current all kinds of new products are in subject crossing
Under promotion, start that the features such as diversification, high-technicalization, facilitation are presented.Wherein, virtual reality and its smart machine are this when
Daily the can relate to various aspects of people have been appeared in blowout for the representative of features described above, and in recent years.
Virtual reality technology refers near in vision, hearing, touch feel etc. height using computer and correlation technique creation one
As digitized environment, user can use related smart machine interact therewith and influence each other, virtual reality technology
The platform of a study and the knowledge of natural environment is provided for people.
Virtual reality technology can provide a polynary virtual world, and user can go to perceive and change by entity action
Become this virtual world, there is extremely strong feeling of immersion, in this virtual world, smart machine is the work of direct interaction therewith
Tool, it is the support most important part of virtual reality technology.Smart machine involved by virtual reality technology mainly includes
Following major class：The hand such as head Intelligent worn device, Intelligent glove, bracelet, wrist-watch such as intelligent glasses, the holographic helmet, Intelligent earplug
Other smart machines such as portion's Intelligent worn device, intelligent overcoat Intelligent shoe.
Human hand is the major organs that human body is exchanged with the external world, and it can transmit many attitude information, just because of human hand
Export organ as information, have can transmission information species is more, contains much information and the characteristics of mapping ability is strong, therefore hand is worn
Wear equipment to receive much concern, have devised substantial amounts of Intelligent worn device.And in all kinds of hand Intelligent worn devices, data glove
Again due to can most make full use of hand gestures information, therefore there is extremely strong exploitation and research potential.
In current existing data glove technology, in order to obtain the movable information of human hand, a kind of mode is to utilize vision
The action of system on human hand is identified.But the calculating of current this method is excessively complicated, and stability and precision are all than relatively low, together
When the operating condition that needs it is too high, be not suitable for common situation.In addition to vision system feeds back, occur some commercializations in recent years
Data glove, such as the PowerGlove of data glove Dataglove, the Matal companies of VPL companies, Immersion companies
EXOS gloves of data glove CyberGlove, Sarcos companies etc..These glove-type control input equipment are broadly divided into two
Class：1. joint position sensor (optical fiber, metal strain plate etc.), which is attached on gloves, measures joint motions, as DataGlove,
CyberGlove etc..The advantages of this kind of data glove is exactly in light weight, and operator's wearing and use are all very convenient, major defect
It is different operator's wearings, sensing station can slide, and the angle of joint sensors measurement needs to demarcate and could met
The requirement of operation；2. mechanical linkage structure drives the joint sensors such as potentiometer to be used for the motion for measuring joint, as SarCoS is public
The EXOS of department.This kind of gloves will input control and device for force feedback combines together, but develop complexity, without commercialization.Meanwhile with
Upper two major class is all to use external sensor, such as optical fiber, foil gauge or potentiometer to obtain the mode of finger information, is not had
Realize gloves itself from sensing.Meanwhile current drivable assistance data gloves, required power source can be divided mainly into following
Two major classes：(1) pneumatically, using air-pump inflating, the driving of gloves is realized, the major defect of this mode is needed at any time in device
With air pump, it has not been convenient to carry with；(2) motor drives, and plays driving effect using servomotor, the deficiency of this mode exists
It is big in the driving noise of motor, and be hard material, it is impossible to it is generally applicable to various situations.
Utility model content
The utility model provides a kind of sensing based on carbon nano-tube film data glove integrated with driving, the number
External sensor is not needed according to gloves, realizes sensing certainly for data glove itself, while it is integrated with driving to realize sensing.
A kind of sensing based on carbon nano-tube film data glove integrated with driving, including hand is made by elastomeric material
Cover body, the dorsal digital side external surface of the glove bulk be pasted with successively carbon nano-tube film, dielectric elastomeric body thin film and
Flexible electrode film, in addition to：
Deformation monitoring device, it is embedded in the carbon nano-tube film of each dorsal digital side of the glove bulk, monitoring is each
The deformation of the carbon nano-tube film of individual dorsal digital side is simultaneously analyzed and processed, and obtains gesture attitude data；
High-tension circuit, both ends are connected with carbon nano-tube film and flexible electrode film, sent out according to wireless communication module respectively
The drive signal sent adjusts the amplitude and frequency of the voltage of the two poles of the earth output；
Wireless communication module, the gesture attitude data that deformation monitoring device obtains is delivered to host computer, receives host computer hair
The drive signal that send simultaneously is sent to high-tension circuit；
Power supply, it is deformation monitoring device, wireless communication module, high-tension circuit power supply.
Deformation monitoring device in the carbon nano-tube film of each dorsal digital side of the glove bulk is this practicality
The transducing part of novel data gloves, gesture appearance is obtained by monitoring the deformation of carbon nano-tube film of each dorsal digital side
State data, realize the utility model data glove from sensing function；The CNT of glove bulk outer surface is adhered to successively
Film, dielectric elastomeric body thin film and flexible electrode film form drive membrane, are the drive part of the utility model data glove, lead to
Amplitude and the frequency of the voltage of control high-tension circuit the two poles of the earth output are crossed to control the amplitude of drive membrane and frequency, realizes this practicality newly
The driving function of type data glove.
Described high-tension circuit is that the power supply of low pressure is obtained into 6kV~9kV oscillating circuit by vibrating voltage stabilizing.
Preferably, described deformation monitoring device includes：
Multiple potential acquisition points, are embedded in the carbon nano-tube film of each dorsal digital side of the glove bulk, position
Multiple potential acquisition points in same dorsal digital side are series between the two poles of the earth of power supply；
Processor, the potential data at each potential acquisition point, analysis obtain corresponding at different moments at different moments for collection
Gesture attitude data.
Each potential acquisition point can be copper foil disk, drawn by thin wire, be connected with processor.
Between multiple potential acquisition points of same finger dorsal part are series at the two poles of the earth of power supply, collection is each at different moments
Potential data at potential acquisition point, can be calculated at different moments positioned at same finger dorsal part two neighboring potential acquisition point it
Between resistance variations, by the calculating for the BP neural network trained so as to obtain the angle of bend of each finger, analysis obtains
The gesture attitude data at corresponding moment.
Preferably, the potential acquisition point is located at the phalanges or metacarpal bone of each finger respectively.So, each finger closes
The bending of section is responsible for the length stretching between the adjacent potential acquisition point of corresponding two of finger dorsal part, so as to cause two phases
The resistance of carbon nano-tube film between adjacent potential acquisition point changes, and then causes between two adjacent potential acquisition points
Potential difference changes, by deformation monitoring device can the accurate anti-angle of bend for releasing respective finger joint, can detect
The motion of trickle hand or finger, the gesture attitude data for obtaining analysis are more accurate.
The deformation recovery capability of carbon nano-tube film determines the accuracy of deformation monitoring device, preferably, described carbon
The preparation method of nano-tube film is：By mass ratio be 20: 1: 1~2 dimethyl silicone polymer (PDMS): curing agent: carbon is received
Mitron is dissolved in tetrahydrofuran, is coated uniformly on the back of the hand side external surface of glove bulk, in 80 DEG C of drying, obtains CNT
Film.
Curing agent is the curing agent to match with dimethyl silicone polymer (PDMS).Such as：Dimethyl silicone polymer and solid
Agent is the auxiliary products of SYLGARD 184 of Dow Corning Corporation's production.
Dimethyl silicone polymer (PDMS) has a high resiliency, the matrix good as CNT, with CNT according to
After mass ratio 20: 1~2 mixes, suspension is formed, then with the curing agent that dimethyl silicone polymer (PDMS) matches by certain ratio
After example mixing, obtained suspension is evenly coated in the elastomeric substrate of dielectric, is dried in the environment of 80 DEG C, according to this sample prescription
Carbon nano-tube film prepared by formula, there is the high resiliency of dimethyl silicone polymer (PDMS) and the electric conductivity of CNT, can
As high-precision distributed resistance sensor.Simultaneously as mixed liquor is dried under conditions of 80 DEG C, stable Jie can be formed
The high-elastic polymer of electricity, the drift bias of so manufactured carbon nano-tube film test of many times are small, can be used for multiple times, Repeatability
It is good.
Preferably, described flexible electrode film is carbon nano-tube film.
Carbon nano-tube film has good deformation recovery capability, and after removing deformation power, carbon nano-tube film can be well
Restore to the original state, extend the service life of data glove.
Data glove of the present utility model has two kinds of mode of operations, that is, senses mode of operation and driving mode of operation, as
It is preferred that the data glove integrated with driving that sense of the present utility model based on carbon nano-tube film also includes：
Relay, deformation monitoring device is switched on power or high-tension circuit switches on power；
Controller, the mode of operation switching signal of host computer is received, deformation monitoring device is connected by electricity by relay selection
Source switches on power high-tension circuit.
When relay switches on power deformation monitoring device, the utility model data glove is in sensing mode of operation, will
When high-tension circuit switches on power, the utility model data glove is in driving mode of operation, and two kinds of work are realized by controller
The switching of pattern.
The carbon nano-tube film, dielectric elastomeric body thin film and flexible electrode film shape of glove bulk outer surface are adhered to successively
Into drive membrane, after data glove is worn on hand by user, dielectric elastomeric body thin film, which is in, waits twin shaft pretensioned state, as excellent
Choosing, the thickness before the pre-stretching of the twin shaft such as dielectric elastomeric body thin film be 0.5~1.5mm, wait twin shaft pre-stretching value be 100%~
150%.
Dielectric elastomeric body thin film waits twin shaft pre-stretching value to adjust sensitivity of the dielectric elastomer to voltage, and can
To adjust at the same pressure, the elastomeric deflection of dielectric.Most preferably, the grade twin shaft pre-stretching of dielectric elastomeric body thin film
It is worth for 120%.
Preferably, described dielectric elastomeric body thin film is polyacrylic film, silicon rubber film, acrylic acid pyrrolones second
Ester film or lance urethane film.
Different materials can be selected according to different operating modes：In the more slow occasion of pressure change, polypropylene is preferably selected
Sour film；Under the higher working environment of environment temperature, silicon rubber film is preferably selected；In the bigger occasion of pressure, preferably select
Acrylic acid pyrrolones ethyl ester film；Lance urethane film can be selected under oiliness workplace.
The high pressure of high-tension circuit of the present utility model vibrates voltage stabilizing by low-tension supply and obtained, although voltage is higher, reaches
6kV~9kV, but by the electric current very little of high-tension circuit, it is safe to the human body, but in order to prevent from getting an electric shock, preferably, flexible
Electrode film is connected by wire with the earth terminal of high-tension circuit, the positive pole phase that carbon nano-tube film passes through wire and high-tension circuit
Even.
Compared with prior art, the beneficial effects of the utility model are：
The gesture posture transducing part of the utility model data glove is integrated with drive part, simple in construction；Data hand
Set generally Grazing condition structure, can perfect fitting hand-type；The driving voltage of transducing part is low, the driving voltage of drive part compared with
Height, it is to vibrate voltage stabilizing by low-tension supply to obtain, it is high although voltage is higher, but by the electric current very little of high-tension circuit
The control model of electric current is forced down, reduces the power consumption of equipment, reduces heating, can be worked long hours, realizes monitoring in real time.
Brief description of the drawings
Fig. 1 is the dorsal side of the sensing of the present utility model based on the carbon nano-tube film data glove integrated with driving
Schematic diagram；
Fig. 2 is the dorsal side of the sensing of the present utility model based on the carbon nano-tube film data glove integrated with driving
Schematic cross-section.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, data glove of the present utility model designs according to the hand size of normal adult.
As depicted in figs. 1 and 2, the glove bulk 1 of data glove of the present utility model is made up of dielectric elastomeric body thin film, greatly
The small human hand that is suitable to is dressed.The back of the hand side external surface of glove bulk 1 is stained with the first carbon nano-tube film 2, dielectric elastomer successively
The carbon nano-tube film 4 of film 3 and second.
The material of glove bulk 1 and dielectric elastomeric body thin film 3 is VHB4910, after data glove is made, the He of glove bulk 1
The thickness of dielectric elastomeric body thin film 3 is 1mm, and when being worn over user on hand, glove bulk 1 and dielectric elastomeric body thin film 3 are in
Twin shaft pretensioned state, it is 120% to wait twin shaft pre-stretching value.
The first carbon nano-tube film 2, dielectric elastomeric body thin film 3 are accompanied between glove bulk 1 and dielectric elastomeric body thin film 3
Outer surface be stained with the second carbon nano-tube film 4.By mass ratio be 20: 1: 1 dimethyl silicone polymer (PDMS): curing agent
: CNT is dissolved in tetrahydrofuran, is coated uniformly on the back of the hand side external surface of glove bulk 1, in 80 DEG C of drying, obtains the
One carbon nano-tube film 2；One layer of dielectric elastomeric body thin film 3 is pasted in the outer surface of the first carbon nano-tube film 2, is by mass ratio
20: 1: 1 dimethyl silicone polymer (PDMS): curing agent: CNT is dissolved in tetrahydrofuran, it is coated uniformly on dielectric elastomeric
On the outer surface of body thin film 3, in 80 DEG C of drying, the second carbon nano-tube film 4 is obtained.Dimethyl silicone polymer and curing agent are road
The auxiliary products of SYLGARD 184 of Corning Incorporated's production.
First carbon nano-tube film 2 and the second carbon nano-tube film 4 are connected with the positive pole and earth terminal of high-tension circuit respectively,
First carbon nano-tube film 2, the carbon nano-tube film 4 of dielectric elastomeric body thin film 3 and second form drive membrane, defeated by high-tension circuit
Going out high frequency voltage makes dielectric elastomeric body thin film 3 produce vibration, is controlled by adjusting amplitude and the frequency of high-tension circuit output voltage
The amplitude and frequency that dielectric elastomeric body thin film 3 processed vibrates.
The high pressure of high-tension circuit is to vibrate voltage stabilizing by low-tension supply to obtain, and high pressure is up to 6kV~96kV.
Data glove passes through the first carbon nano-tube film 2, dielectric elastomeric body thin film 3, the second carbon nano-tube film 4 and height
Volt circuit realizes its driving function.
First carbon nano-tube film 2 has been embedded in 19 copper foil disks 6, and as potential acquisition point, 19 copper foil disks 6 divide
Wei Yu be not finger-joint between the two neighboring copper foil disk 6 on same finger at the phalanges or metacarpal bone of each finger.
Between multiple potential acquisition points of same finger dorsal part are series at the two poles of the earth of power supply, each copper foil disk 6 is drawn by thin wire
Go out, be connected with processor, processor gathers the potential data at each potential acquisition point at different moments, can be calculated at different moments
Resistance variations between the two neighboring potential acquisition point of same finger dorsal part, by the meter for the BP neural network trained
Calculate so as to obtain the angle of bend of each finger, analysis obtains the gesture attitude data at corresponding moment.Obtained gesture posture number
Host computer is transferred to according to by 2.4G wireless communication modules, realizes the sensing function of data glove.
Therefore, data glove of the present utility model, which has, senses and drives two kinds of mode of operations.
Data glove is additionally provided with relay and controller, and controller receives the mode of operation switching signal of host computer, passed through
Sensing mode of operation or driving mode of operation are opened in relay selection.
The operation principle of sensing of the present utility model based on the carbon nano-tube film data glove integrated with driving is such as
Under：
Drive under mode of operation, pass through first carbon nano-tube film 2 He of the high-tension circuit to the both sides of dielectric elastomeric body thin film 3
Second carbon nano-tube film 4 applies opposite electric charge, i.e., on the first carbon nano-tube film 2 plus positive charge, the second CNT are thin
Add negative electrical charge on film 4, attraction is produced between two carbon nano-tube films, the attraction produces one to dielectric elastomeric body thin film 3
Along the squeezing action of thin film planar normal direction so that the dielectric elastomeric body thin film 3 originally by pre-stretching is thinning, area increase,
Whole structure is spread apart；It is meanwhile mutually exclusive between the first electric charge on carbon nano-tube film 2 so that the first carbon nanometer
Repulsive force is produced between each several part of pipe film 2, similarly also produces repulsive force between each several part of the second carbon nano-tube film 4, by
It is placed directly against in the first carbon nano-tube film 2 and the second carbon nano-tube film 4 on dielectric elastomeric body thin film 3, therefore its effect
So that dielectric elastomeric body thin film 3 is unfolded；And dielectric elastomeric body thin film 3 is made after glove form, prestretching is in when being worn on hand
State is stretched, there is screen resilience, by the limitation of wrist fixing end and internal finger, reaches poised state, after energization, dielectric
Elastomer thin film 3 is unfolded, and after power-off, dielectric elastomeric body thin film 3 is retracted back to original state, and high frequency is provided by high-tension circuit
Pulse voltage, the driving effect of vibration can be reached；
Sense under mode of operation, each copper foil disk on same finger is connected by the first carbon nano-tube film 2
Connected with the both ends of power supply, form series circuit；Parallel circuit is formed between each finger.Make when the arthrogryposis of finger
One carbon nano-tube film 2 stretches, and changes the resistance between the copper foil disk of the joint both sides, so as to the adjacent two copper foils circle
Potential difference between piece also changes, and by gathering the current potential of copper foil disk, can be obtained by processor Extrapolation each
The flexure operation of finger-joint, so as to obtain the gesture attitude data of whole hand, realize the sensing effect certainly of data glove.
The technical solution of the utility model and beneficial effect are described in detail embodiment described above, it should be understood that
Be that the foregoing is only specific embodiment of the utility model, be not limited to the utility model, it is all in the utility model
Spirit in any modification, supplement and the equivalent substitution made etc., should be included in the scope of protection of the utility model it
It is interior.
Claims (7)
1. a kind of sensing based on carbon nano-tube film data glove integrated with driving, including gloves are made by elastomeric material
Body, it is characterised in that the dorsal digital side external surface of the glove bulk is pasted with carbon nano-tube film, dielectric elastomeric successively
Body thin film and flexible electrode film, in addition to：
Deformation monitoring device, it is embedded in the carbon nano-tube film of each dorsal digital side of the glove bulk, monitors each hand
Refer to the deformation of the carbon nano-tube film of dorsal side and analyzed and processed, obtain gesture attitude data；
High-tension circuit, both ends are connected with carbon nano-tube film and flexible electrode film respectively, are sent according to wireless communication module
Drive signal adjusts the amplitude and frequency of the voltage of the two poles of the earth output；
Wireless communication module, the gesture attitude data that deformation monitoring device obtains is delivered to host computer, receives what host computer was sent
Drive signal is simultaneously sent to high-tension circuit；
Power supply, it is deformation monitoring device, wireless communication module, high-tension circuit power supply.
2. the sensing according to claim 1 based on the carbon nano-tube film data glove integrated with driving, its feature
It is, described deformation monitoring device includes：
Multiple potential acquisition points, are embedded in the carbon nano-tube film of each dorsal digital side of the glove bulk, positioned at same
Multiple potential acquisition points of one finger dorsal side are series between the two poles of the earth of power supply；
Processor, the potential data at each potential acquisition point, analysis obtain corresponding gesture at different moments at different moments for collection
Attitude data.
3. the sensing according to claim 2 based on the carbon nano-tube film data glove integrated with driving, its feature
It is, the potential acquisition point is respectively at the phalanges or metacarpal bone of each finger.
4. the sensing according to claim 1 based on the carbon nano-tube film data glove integrated with driving, its feature
It is, described flexible electrode film is carbon nano-tube film.
5. the sensing according to claim 1 or 2 based on the carbon nano-tube film data glove integrated with driving, it is special
Sign is, in addition to：
Relay, deformation monitoring device is switched on power or high-tension circuit switches on power；
Controller, receive the mode of operation switching signal of host computer, deformation monitoring device is switched on power by relay selection or
High-tension circuit is switched on power.
6. the sensing according to claim 1 based on the carbon nano-tube film data glove integrated with driving, its feature
It is, after data glove is worn on hand, dielectric elastomeric body thin film, which is in, waits twin shaft pretensioned state, dielectric elastomeric body thin film etc.
Thickness before twin shaft pre-stretching is 0.5~1.5mm, and it is 100%~150% to wait twin shaft pre-stretching value.
7. the sensing according to claim 1 based on the carbon nano-tube film data glove integrated with driving, its feature
It is, described dielectric elastomeric body thin film is polyacrylic film, silicon rubber film, acrylic acid pyrrolones ethyl ester film or lance ammonia
Ester film.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720523146.3U CN206833368U (en) | 2017-05-11 | 2017-05-11 | Sensing based on the carbon nano-tube film data glove integrated with driving |
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| CN201720523146.3U CN206833368U (en) | 2017-05-11 | 2017-05-11 | Sensing based on the carbon nano-tube film data glove integrated with driving |
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