CN215914602U

CN215914602U - Flexible bending sensor with self-adaptive angle calculation function

Info

Publication number: CN215914602U
Application number: CN202122371108.XU
Authority: CN
Inventors: 彭玉鑫; 王健翔; 宋宪; 王健
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-03-01
Anticipated expiration: 2031-09-29

Abstract

The utility model belongs to a flexible bending sensor with self-adaptive angle calculation, which comprises a substrate layer, a plurality of pressure sensing units, an isolation layer, a plurality of stretching sensing units and a packaging layer, wherein the pressure sensing units are arranged on the upper side of the substrate layer in an array manner and used for measuring pressure, the isolation layer covers the pressure sensing units, the stretching sensing units are arranged on the upper side of the isolation layer in an array manner and used for measuring stretching force, and the packaging layer covers the stretching sensing units; obtaining a bending angle of the flexible bending sensor by the pressure sensing unit and the stretching sensing unit in an adaptive manner; distributed pressure signals and stretching signals are measured through the arranged pressure sensing unit and the stretching sensing unit to perform self-adaptive joint angle calculation of different joint curvatures. The joint angle is obtained simply and accurately; the flexible bending sensor can be suitable for joints with different joint curvatures, and the application range of measurement is wide; the manufacture is simple and quick.

Description

Flexible bending sensor with self-adaptive angle calculation function

Technical Field

The utility model belongs to the technical field of sensors, and particularly relates to a flexible bending sensor for angle self-adaptive calculation.

Background

The bending sensor is used as a detection tool widely applied to the fields of human motion biomechanics, sports and rehabilitation medicine, is used for detecting kinematic signals of human joints, namely angles of all joints of a human body, and is commonly used for joint angle feedback in athlete training actions and limb joint angle detection in the rehabilitation medicine. The traditional bending sensor has poor adaptability to curvature change of an attachment interface during measurement, and cannot measure multiple curvatures in the sensing process, so that bending sensing feedback of different joints cannot be performed. In the fields of sports biomechanics, sports and rehabilitation medicine research, such as joint angle measurement, the multi-joint angle measurement cannot be carried out by using the same sensor, and the problems of complex system, complex manufacturing process and the like exist in the traditional bending sensor which uses different sizes to adapt to different curvatures.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provide a flexible bending sensor with an angle self-adaptive calculation function.

The purpose of the utility model is realized as follows: the flexible bending sensor comprises a substrate layer, a plurality of pressure sensing units, an isolation layer, a plurality of stretching sensing units and an encapsulation layer, wherein the pressure sensing units are arranged on the upper side of the substrate layer in an array mode and used for measuring pressure, the isolation layer covers the pressure sensing units, the stretching sensing units are arranged on the upper side of the isolation layer in an array mode and used for measuring stretching force, and the encapsulation layer covers the stretching sensing units; the bending angle of the flexible bending sensor is obtained by the pressure sensing unit and the stretching sensing unit in an adaptive mode.

Preferably, the pressure sensing unit and the tension sensing unit are arranged perpendicular to each other.

Preferably, the pressure sensing unit includes a front pressure unit measuring a front side pressure of the bending position, a middle pressure unit measuring a pressure at the bending position, and a rear pressure unit measuring a rear side pressure of the bending position.

Preferably, the stretch sensing unit includes a front stretch unit that measures a front-side stretch force of the bending position and a rear stretch unit that measures a rear-side stretch force of the bending position.

Preferably, the substrate layer, the isolation layer and the packaging layer are all made of flexible materials.

The utility model has the following positive effects: distributed pressure signals and stretching signals are measured through the arranged pressure sensing unit and the stretching sensing unit to perform self-adaptive joint angle calculation of different joint curvatures. The joint angle is obtained simply and accurately; the flexible bending sensor can be suitable for joints with different joint curvatures, and the application range of measurement is wide; the manufacture is simple and quick.

Drawings

Fig. 1 is a schematic structural view of the utility model;

fig. 2 is a schematic diagram of a distribution structure of the pressure sensing unit of the utility model;

fig. 3 is a schematic diagram of a distribution structure of the tensile sensing units of the utility model;

fig. 4 is a schematic view of the utility model measuring the bending angle in use;

fig. 5 is a schematic diagram of the adaptive angle calculating structure of the utility model.

Detailed Description

Embodiment 1, as shown in fig. 1, 2 and 3, an angle adaptive solution flexible bending sensor 1 includes a substrate layer 10, a plurality of pressure sensing units 20 arranged in an array on an upper side of the substrate layer 10 for measuring pressure, an isolation layer 30 covering the pressure sensing units 20, a plurality of tension sensing units 40 arranged in an array on an upper side of the isolation layer 30 for measuring tension, and an encapsulation layer 50 covering the tension sensing units 40; the bending angle of the flexible bending sensor 1 is adaptively obtained by the pressure sensing unit 20 and the tension sensing unit 40.

The flexible bending sensor 1 with the angle adaptive calculation carries out adaptive joint angle calculation of different joint curvatures through distributed pressure signals and stretching signals measured by the pressure sensing unit 20 and the stretching sensing unit 40.

Preferably, the pressure sensing unit 20 and the tension sensing unit 40 are disposed perpendicular to each other. Therefore, the pressure signal and the stretching signal at the bending position can be accurately measured.

Preferably, the substrate layer 10, the isolation layer 30 and the encapsulation layer 50 are all flexible materials. Such as PET material, rubber, etc., preferably stretchable rubber. And pouring and molding in advance through a mold. The pressure sensing unit 20 and the tension sensing unit 40 are printed on the surfaces of the substrate layer 10 and the isolation layer 30 by a 3D printer, and finally the whole package is completed by the package layer 502.

Preferably, the pressure sensing unit 20 includes a front pressure unit 201 for measuring a front pressure of the bending position, a middle pressure unit 202 for measuring a pressure at the bending position, and a rear pressure unit 203 for measuring a rear pressure of the bending position.

Preferably, the stretch sensing unit 40 includes a front stretching unit 401 for measuring a front stretching force of the bending position and a rear stretching unit 402 for measuring a rear stretching force of the bending position.

The flexible bending sensor 1 can be attached to joint surfaces with different curvatures, and pressure signals and stretching signals with different contact areas can be measured in a self-adaptive mode through the pressure sensing unit 20 and the stretching sensing unit 40.

As shown in fig. 4 and 5, when the flexible bending sensor 1 with angle adaptive calculation is used for attaching a bending joint, the pressure signals measured by the front pressure unit 201, the middle pressure unit 202 and the rear pressure unit 203 are respectively denoted as F_lower、F_middleAnd F_upper. The stretching signals measured by the front stretching unit 401 and the rear stretching unit 402 are respectively denoted as F_tension1And F_tension2。

After the flexible bending sensor 1 is bent, the stress balance formula at the bending axis is as follows:

according to the trigonometric function universal formula, the stress balance formula can be converted into:

the force balance formula can be further converted into:

the bending angle θ measured by the flexible bending sensor 1 is:

thereby, the bending angle of the flexible bending sensor 1 can be adaptively obtained through the pressure sensing unit 20 and the tension sensing unit 40.

Distributed pressure signals and stretching signals are measured through the arranged pressure sensing unit and the stretching sensing unit to perform self-adaptive joint angle calculation of different joint curvatures. The joint angle is obtained simply and accurately; the flexible bending sensor can be suitable for joints with different joint curvatures, and the application range of measurement is wide; the manufacture is simple and quick.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the utility model.

Claims

1. An angle adaptive resolved flexural bending sensor characterized by: the device comprises a substrate layer, a plurality of pressure sensing units arranged in an array mode on the upper side of the substrate layer and used for measuring pressure, an isolation layer covering the pressure sensing units, a plurality of stretching sensing units arranged in an array mode on the upper side of the isolation layer and used for measuring stretching force, and an encapsulation layer covering the stretching sensing units; the bending angle of the flexible bending sensor is obtained by the pressure sensing unit and the stretching sensing unit in an adaptive mode.

2. An angle adaptive resolved flexural bending sensor according to claim 1, characterized by: the pressure sensing unit and the stretching sensing unit are arranged perpendicular to each other.

3. An angle adaptive resolved flexural bending sensor according to claim 1, characterized by: the pressure sensing unit comprises a front pressure unit for measuring the front pressure of the bending position, a middle pressure unit for measuring the pressure of the bending position and a rear pressure unit for measuring the rear pressure of the bending position.

4. An angle adaptive resolved flexural bending sensor according to claim 1, characterized by: the stretching sensing unit comprises a front stretching unit for measuring the stretching force at the front side of the bending position and a rear stretching unit for measuring the stretching force at the rear side of the bending position.

5. An angle adaptive resolved flexural sensor of any of claims 1-4, characterized by: the substrate layer, the isolation layer and the packaging layer are all made of flexible materials.