KR20170006817A - A Soft Sensor and Finger Motion Measurement System using The Soft Sensor - Google Patents

A Soft Sensor and Finger Motion Measurement System using The Soft Sensor Download PDF

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KR20170006817A
KR20170006817A KR1020150098034A KR20150098034A KR20170006817A KR 20170006817 A KR20170006817 A KR 20170006817A KR 1020150098034 A KR1020150098034 A KR 1020150098034A KR 20150098034 A KR20150098034 A KR 20150098034A KR 20170006817 A KR20170006817 A KR 20170006817A
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sensor
channel
soft
soft sensor
thumb
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KR1020150098034A
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KR101740308B1 (en
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배준범
노경관
김수인
유범재
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울산과학기술원
재단법인 실감교류인체감응솔루션연구단
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    • 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

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  • Theoretical Computer Science (AREA)
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  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

The present invention provides a soft sensor for sensing a motion, which includes a flexible material and a signal line which is formed on the flexible material, wherein the signal line includes a channel formed on the flexible material and liquid metal filled inside the channel, a finger motion sensing system including the soft sensor, and a manufacturing method thereof, thereby manufacturing a wearable system capable of three-dimensionally measuring the motion of a finger.

Description

Technical Field [0001] The present invention relates to a soft sensor and a finger motion measurement system using the soft sensor,

The present invention relates to a soft sensor and a finger motion measurement system using the same.

In the field of virtual reality or coexistence reality, hybrid motion sensing technology that combines sensor technology with high-cost motion capture technology is important, and research and development is actively underway.

The main research areas are to acquire the user's dimensional coordinate information or motion information by using sensor which is useful for correlating with the user's position and body part, and to extract the information about the rotation and intensity of the force, A technique of extracting the angle information of the object is developed.

Furthermore, development has been progressed to a level that provides an interface for adding a new operation, provides an interface that is easy to construct an operation database, and is capable of operation customization, .

In addition, a wearable motion recognition device that is interlocked with a smart device is being developed along with the development of a smart device, and various data can be produced and processed by sensing movement of a part of the body including arms, fingers, and feet in a wearable motion recognition device Technologies are reported and linked to patent applications.

Such a wearable motion recognition device can be manufactured as a band type, a globe type, a ring type, an NMD type, a shoe type, and is utilized in various fields such as a motion assistant robot, a virtual reality special effect, and the like.

Such a sensor-based motion measurement system is likely to be used in a variety of business fields using camera robots, automobile movie contents rehabilitation medicine, store broadcasting, and presentations.

However, in the conventional motion measurement system, the movement of the finger is measured using a commercially available sensor, but the structure itself is complicated due to the size of the sensor itself, and the movement of the finger is affected.

Korean Patent Laid-Open Publication No. 2015-0000147

Disclosure of Invention Technical Problem [7] The present invention has been made to solve the above-described problems and disadvantages encountered in the conventional finger motion measurement system, and it is possible to perform three-dimensional finger motion measurement with a small size and a simple structure, And a finger movement measurement system.

The above object of the present invention is also achieved by a soft sensor for motion detection comprising a stretchable substrate and a signal line formed on the stretchable substrate, wherein the signal line comprises a channel provided in the stretchable substrate and a liquid metal filled in the channel .

At this time, the elastic base material may be made of a silicon material, and the liquid metal may be a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid).

The soft sensor includes a flexible substrate and a signal line formed on the flexible substrate, wherein the signal line includes a channel provided in the flexible substrate, And a finger motion measurement system which is a soft sensor for motion detection including liquid metal filled in the channel.

At this time, the position of the soft sensor may be provided between the joints of the fingers and the thumb and the index finger of the surface of the glove, and the soft sensor provided between the thumb and the index finger detects movement of the thumb and abduction And the soft sensors of the fingers other than the thumb among the soft sensors provided at the joints of the fingers may be provided with a flexion and extension motion sensor and a motion sensor of adduction and abduction.

The above objects of the present invention include the steps of preparing an upper elastic substrate with a lower elastic substrate and a channel, bonding the lower elastic substrate with an upper elastic substrate, and injecting a liquid metal into the channel to form a signal line A method for manufacturing a soft sensor for motion detection is provided.

The method includes the steps of preparing a glove of a stretchable material, a lower stretchable substrate and an upper stretchable substrate having a channel formed thereon, bonding the lower stretchable substrate and the upper stretchable substrate, injecting a liquid metal into the channel, And attaching the soft sensor to the glove of the stretchable material. ≪ RTI ID = 0.0 > [0002] < / RTI >

The present invention provides a liquid crystal display comprising a flexible substrate, and a signal line formed on the flexible substrate, wherein the signal line includes a soft sensor for motion detection including a channel provided in the flexible substrate and liquid metal filled in the channel, A finger motion detection system and a method of manufacturing the finger movement detection system are provided.

In addition, since the liquid metal is used for the signal line, it is possible to provide a finger movement system in which the structure is simplified without affecting the movement of the finger.

1 is a plan view of a soft sensor according to an embodiment of the present invention;
2 is a plan view of an upper mold and a lower mold of a soft sensor according to an embodiment of the present invention;
FIG. 3A is a graph of voltage change with a length change of a soft sensor according to an embodiment of the present invention. FIG.
FIG. 3B is a graph of voltage change with a length change of a soft sensor according to an embodiment of the present invention. FIG.
FIG. 3c is a graph of voltage change according to a length change of a soft sensor according to an embodiment of the present invention. FIG.
FIG. 3D is a graph of voltage change with a length change of a soft sensor according to an embodiment of the present invention. FIG.
4 is a schematic diagram showing a change in the length of a signal line according to a finger joint change of a soft sensor according to an embodiment of the present invention.
5 is a schematic diagram of a finger motion measurement system according to an embodiment of the present invention.
6 is a reference view of the finger joint.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The present embodiments are provided so that the disclosure of the present invention is complete and that those skilled in the art will fully understand the scope of the present invention. Like reference numerals refer to like elements throughout the specification.

The terms used herein are intended to illustrate the embodiments and are not intended to limit the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is to be understood that the terms 'comprise', and / or 'comprising' as used herein may be used to refer to the presence or absence of one or more other components, steps, operations, and / Or additions.

In addition, the embodiments described herein will be described with reference to cross-sectional views and / or plan views, which are ideal illustrations of the present invention. In the drawings, the thicknesses of the films and regions are exaggerated for an effective description of the technical content. The shape of the illustration may be modified by following and / or by tolerance or the like. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include changes in the shapes that are generated according to the manufacturing process. For example, the etched area shown at right angles may be rounded or may have a shape with a certain curvature.

FIG. 1 is a plan view of a soft sensor according to an embodiment of the present invention, and FIG. 4 is a schematic diagram illustrating a change in length of a signal line according to a finger joint change of a soft sensor according to an embodiment of the present invention.

1, a soft sensor for motion detection according to an embodiment of the present invention includes a flexible substrate 140 and signal lines 110 and 120 formed on the flexible substrate, A channel 145 and a liquid metal (not shown) filled in the channel.

At this time, the stretchable base material may be a silicon material, and it may be suitable to use a silicone material which is flexible, soft and stretchable in nature in the property of a motion-detecting soft sensor that must reflect movements of joints such as fingers But is not limited thereto.

The liquid metal may be a liquid-phase eutectic gallium-indium alloy (Eutectic Gallium-Indium Alloy), but the present invention is not limited thereto. The use of another liquid metal may be used as long as the metal has conductivity in a liquid state at room temperature It is possible.

The soft sensor of the present embodiment can be used to measure the angle of the joint in the field of virtual reality or coexistence real time. In particular, the soft sensor can be used as a means for inputting data to a virtual reality device by measuring the angle of the finger joint.

The principle of the soft sensor of this embodiment is as follows.

In general, the resistance of the conductive metal is denoted by R, the electrical resistivity is denoted by Ω, the channel width is denoted by w, the channel length is denoted by L, ) And the channel height is h (channel height [m]), the resistance of the conductive metal is expressed by the following equation (1).

Figure pat00001

At this time, the channel can be viewed as a cross section through which electrons of the conductive metal pass, and when the outer shape of the conductive metal changes, the length, height, width, and the like of the channel can change and the resistance also changes.

The change in resistance? R can be expressed by the following equation (2) as the difference between the current resistance R and the initial resistance R 0 .

Figure pat00002

Substituting Equation (1) into Equation (2) leads to Equation (3).

Figure pat00003

Further, when Poisson's ratio is Poisson's ratio and 竜 is a strain rate, Equation (4) holds.

Figure pat00004

Substituting Equation (4) into Equation (3) leads to Equation (5).

Figure pat00005

Substituting the Poisson's ratio v = 0.5 of the elastomer material into Equation (5), the following Equation (6) is derived.

Figure pat00006

As shown in Equation (6), the length L, height h and width w of the channel can be known through the resistance change ΔR.

At this time, if the liquid metal is injected into the channel, assuming that the channel cross-sectional area does not change (that is, the height h and the width w do not change) DELTA R) is a function of the length L of the channel.

Referring to FIG. 4, an angle change ?? and a radius r of a joint in a finger joint and a change? L in a channel length are expressed by Equation (7).

Figure pat00007

The following equation (8) is derived from the equation (7).

Figure pat00008

In this case, since r is a constant, the angle change (??) of the finger joint can be calculated through the change of the length of the channel (? L). The change of the length of the channel (? L) DELTA R), and calculating the change in length (DELTA L) of the channel through Equation (6).

Therefore, when the sensor for the change of the voltage (? V) is provided in the soft sensor of the present embodiment, the change of the angle of the finger joint (??) can be obtained.

Although the finger joint has been described as an example for convenience of explanation, it is natural that the soft sensor of this embodiment is applicable to joints of other parts of the body.

FIGS. 3A to 3D are graphs of voltage change according to a length change of a soft sensor according to an embodiment of the present invention.

Referring to FIGS. 3A to 3D, it can be seen that the sensor signals exhibit a linear relationship with the change in length and are reproducible.

FIG. 1 is a plan view of a soft sensor according to an embodiment of the present invention, FIG. 5 is a schematic diagram of a finger movement measuring system according to an embodiment of the present invention, and FIG. 6 is a reference view of a finger joint.

Referring to FIGS. 1, 5 and 6, a finger movement measuring system according to an embodiment of the present invention includes a glove 200 of a stretchable material, a soft sensor 100 provided on the surface of the glove, The sensor includes a stretchable substrate and signal lines (110, 120) formed on the stretchable substrate, wherein the signal line includes a channel (130) provided in the stretchable substrate and a liquid metal (not shown) filled in the channel can do.

The elastic substrate may be made of a silicon material, and the liquid metal may be a liquid gallium-indium alloy (EGaIn, Liquid), but is not limited thereto.

The position of the soft sensor may be provided between the thumb and the index finger of the finger of the surface of the glove, and the soft sensor provided between the thumb and the index finger may detect the movement of the thumb and abduction .

In addition, the soft sensors of the fingers other than the thumb among the soft sensors provided at the joints of the fingers may be provided with flexion and extension motion sensors and motion sensors of adduction and abduction.

More specifically, in the case of a finger, a finger, a finger, and a finger (except for the thumb), the finger is composed of metacapals and phalanges connected to the carpals, The distal phalanx, the middle phalanx, and the proximal phalanx are arranged in order from the fingertip to the midline between the horse's osteotomy and the interrupted bone (221, 231, 241, 251) Between the stunted valleys 222, 232, 242, and 252, and between the stunted valleys and the metatarsal 223, 233, 243, and 253 can be seen above the joints.

At this time, the soft sensors of the present invention may be attached to the positions corresponding to the respective joints to measure the bending angle of the joints.

However, since the motion between the stunted valleys and the metacarpals 223, 233, 243, and 253 is required to measure the motion in the left and right direction, the two sensors are provided so as to be orthogonal to each other, or the signal line for measuring displacement in two directions .

In the case of the thumb, since the distance between the metacarpal of the thumb and the metacarpal of the index finger is farther, the soft sensor of the present invention can be provided in the transverse direction between the thumb and the metacarpal bone of the index finger. The soft sensor may be provided between the horse's osteotomy and the stunted bone 211 and between the stunted bone and the metacarpal bone 212, respectively.

The motion of the adduction and abduction of each finger joint can be measured through the above-described configuration. The motion degrees of freedom of the thumbs 211, 212 and 213 and the degrees of freedom of movement of the remaining fingers 221 and 222 , 231, 232, 241, 242, 251 and 252 are 1, 223, 233, 243 and 253 are 2).

However, it is a matter of course that it can be modified by a method which excludes a few sensors if necessary.

FIG. 2 is a top plan view of an upper mold and a lower mold of a soft sensor according to an embodiment of the present invention, and FIG. 5 is a schematic diagram of a finger motion measurement system according to an embodiment of the present invention.

2 and 5, a method for fabricating a soft sensor 100 for motion sensing according to an embodiment of the present invention includes preparing a lower elastic base material 160 and an upper elastic base material 150 having a channel, Bonding the lower stretchable substrate to the upper stretchable substrate, and injecting liquid metal into the channel to form a signal line.

As mentioned above, the elastic substrate may be made of a silicon material, and the liquid metal may be a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid), but is not limited thereto.

The channel of the upper stretchable substrate may be formed in a hollow shape to allow injection of the liquid metal. When the upper and lower stretchable substrates are bonded, the channel may have a cross-section in the form of a tube.

The soft sensor for motion detection made by the manufacturing method of this embodiment can be applied not only to the movement of the finger joint but also to other joint parts of the human body.

A method of fabricating a finger motion system (200) using the soft sensor of the present embodiment includes the steps of preparing a glove of an elastic material, an upper stretchable substrate having a lower stretchable substrate and a channel, a step of joining the lower stretchable substrate and the upper stretchable substrate Forming a signal line by injecting a liquid metal into the channel to manufacture a soft sensor for motion sensing, and attaching the soft sensor to the glove of the elastic material.

Similarly, the stretchable substrate may be made of a silicon material, and the liquid metal may be a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid), but is not limited thereto.

The position of the soft sensor may be provided between the thumb and the index finger of the finger of the surface of the glove, and the soft sensor provided between the thumb and the index finger may detect the movement of the thumb and abduction And the soft sensors of the fingers other than the thumb among the soft sensors provided at the joints of the fingers may be provided with a flexion and extension motion sensor and a motion sensor of adduction and abduction.

The foregoing detailed description is illustrative of the present invention. In addition, the foregoing is merely illustrative and illustrative of preferred embodiments of the invention, and the invention may be used in various other combinations, modifications and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, the disclosure and the equivalents of the disclosure and / or the scope of the art or knowledge of the present invention. The foregoing embodiments are intended to illustrate the best mode contemplated for carrying out the invention and are not intended to limit the scope of the present invention to other modes of operation known in the art for utilizing other inventions such as the present invention, Various changes are possible. Accordingly, the foregoing description of the invention is not intended to limit the invention to the precise embodiments disclosed. In addition, the appended claims should be construed to include other embodiments.

100: Soft sensor for motion detection
110: Signal line once
120: the other end of the signal line
130: signal line bend
140: stretch substrate
145: Channel
150: Upper stretch substrate
160: Lower stretch substrate
200: Finger Motion Measurement System
210: thumb part
211: thumb joint 1st joint sensor
212: Thumb 2nd joint sensor
213: Thumb 3rd joint sensor
220:
221: Detector part first joint sensor
222: Detector part 2 joint sensor
223: Detector Third joint sensor
230: middle finger portion
231: stop part first joint sensor
232: stop part second joint sensor
233: stop part third joint sensor
240: Finger finger part
241: First joint sensor
242: finger joint part 2 joint sensor
243: Finger part third joint sensor
250:
251: first joint sensor
252: second joint sensor
253: third joint sensor

Claims (18)

Elastic substrate,
And a signal line formed on the elastic substrate,
Wherein the signal line comprises a channel provided in the stretchable substrate and a liquid metal filled in the channel.
The method according to claim 1,
Wherein the elastic base material is made of silicon.
The method according to claim 1,
Wherein the liquid metal is a liquid gallium-indium alloy (Eutinic Gallium-Indium Alloy, EGaIn, Liquid).
Gloves of elastic material,
And a soft sensor provided on the surface of the glove,
The soft sensor includes:
Elastic substrate,
And a signal line formed on the elastic substrate,
Wherein the signal line is a soft sensor for motion detection comprising a channel provided in the elastic substrate and a liquid metal filled in the channel.
5. The method of claim 4,
Wherein the stretchable substrate is a silicon material.
5. The method of claim 4,
Wherein the liquid metal is a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid).
5. The method of claim 4,
Wherein the position of the soft sensor is provided between the thumb and the index finger of the finger of the surface of the glove.
8. The method of claim 7,
Wherein the soft sensor provided between the thumb and the index finger is for sensing movement of abduction and abduction of the thumb.
9. The method of claim 8,
Wherein the soft sensors of the soft sensors provided at the joints of the fingers except for the thumb are provided with a flexion and extension sensor and a motion sensor of the adduction and abduction.
Preparing a lower stretchable substrate and an upper stretchable substrate on which the channel is formed;
Joining the lower stretchable substrate and the upper stretchable substrate;
And injecting liquid metal into the channel to form a signal line.
11. The method of claim 10,
Wherein the stretchable substrate is made of a silicon material.
11. The method of claim 10,
Wherein the liquid metal is a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid).
Preparing a glove of a stretchable material, a bottom stretchable substrate and a top stretchable substrate with the channel formed;
Joining the lower stretchable substrate and the upper stretchable substrate;
Forming a signal line by injecting liquid metal into the channel to produce a soft sensor for motion sensing;
And attaching the soft sensor to the glove of the stretchable material.
14. The method of claim 13,
Wherein said stretchable substrate is a silicon material.
14. The method of claim 13,
Wherein the liquid metal is a liquid gallium-indium alloy (Eutectic Gallium-Indium Alloy, EGaIn, Liquid).
14. The method of claim 13,
Wherein the position of the soft sensor is provided between the thumb and the index finger of the finger of the surface of the glove.
17. The method of claim 16,
Wherein the soft sensor provided between the thumb and the forefinger is for sensing movement of abduction and abduction of the thumb.
18. The method of claim 17,
Wherein the soft sensors of the soft sensors provided at the joints of the fingers except for the thumb are provided with a flexion and extension sensor and a motion sensor of the abduction and abduction together.
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KR20200005243A (en) * 2018-07-06 2020-01-15 한국과학기술연구원 System for controlling interface based on finger gestures using imu sensor
KR20200053446A (en) * 2018-08-07 2020-05-18 주식회사 필더세임 Soft sensor embedded gloves and manufacturing method of the same
KR20200054144A (en) * 2018-08-07 2020-05-19 주식회사 필더세임 Soft sensor embedded gloves and manufacturing method of the same
KR20200094252A (en) * 2019-01-29 2020-08-07 주식회사 필더세임 Soft sensor embedded gloves and manufacturing method of the same
US11412793B2 (en) 2019-11-21 2022-08-16 Feel The Same, Inc. Soft sensor-embedded glove and method for manufacturing same
KR20210148455A (en) * 2020-05-28 2021-12-08 주식회사 네오펙트 Hand rehabilitation training apparatus

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