TW202118450A - Multibend shape sensor - Google Patents

Multibend shape sensor Download PDF

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TW202118450A
TW202118450A TW109132638A TW109132638A TW202118450A TW 202118450 A TW202118450 A TW 202118450A TW 109132638 A TW109132638 A TW 109132638A TW 109132638 A TW109132638 A TW 109132638A TW 202118450 A TW202118450 A TW 202118450A
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bar
electrodes
sensor
sliding bar
measurement
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TW109132638A
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保羅 亨利 達伊茲
菲爾斯特 莎米利
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美商塔切爾實驗室公司
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Priority to US17/026,252 priority patent/US20210137418A1/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/45For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4566Evaluating the spine
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116Determining posture transitions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/16Measuring arrangements characterised by the use of electric or magnetic means for measuring the deformation in a solid, e.g. by resistance strain gauge
    • G01B7/22Measuring arrangements characterised by the use of electric or magnetic means for measuring the deformation in a solid, e.g. by resistance strain gauge using change in capacitance
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/28Measuring arrangements characterised by the use of electric or magnetic means for measuring contours or curvatures
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/28Measuring arrangements characterised by the use of electric or magnetic means for measuring contours or curvatures
    • G01B7/287Measuring arrangements characterised by the use of electric or magnetic means for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/28Measuring arrangements characterised by the use of electric or magnetic means for measuring contours or curvatures
    • G01B7/293Measuring arrangements characterised by the use of electric or magnetic means for measuring contours or curvatures for measuring radius of curvature
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/16Details of sensor housings or probes; Details of structural supports for sensors
    • A61B2562/164Details of sensor housings or probes; Details of structural supports for sensors the sensor is mounted in or on a conformable substrate or carrier
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/22Arrangements of medical sensors with cables or leads; Connectors or couplings specifically adapted for medical sensors
    • A61B2562/225Connectors or couplings
    • A61B2562/227Sensors with electrical connectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/16Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance
    • G01D5/165Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance by relative movement of a point of contact or actuation and a resistive track
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G01D5/2412Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying overlap

Abstract

A multibend sensor comprises a reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; a sliding strip having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to transmit at least one signal, wherein the sliding strip moves with respect to the reference strip; and measurement circuitry adapted to process signals received by the first plurality of electrodes, wherein the processed signals provide information regarding the relative position of the sliding strip to the reference strip.

Description

多彎曲形狀感測器Multi-bend shape sensor

所揭示之設備及方法係關於感測領域,且特定言之,所揭示之設備及方法係關於使用一多彎曲感測器來提供定位之準確判定。The disclosed device and method are related to the field of sensing, and in particular, the disclosed device and method are related to the use of a plurality of bending sensors to provide accurate determination of positioning.

在過去,採用感測手套來偵測手勢。一實例係美國專利第5,097,252號中所闡述之資料手套(Dataglove),其採用沿手指之光學彎曲感測器來偵測手指位置。Nintendo之強力手套(Power Glove)使用一類似設計,但具有電阻性彎曲感測器。在兩種情況中,彎曲感測器均不非常敏感以僅提供各彎曲感測器之總體彎曲之一單一量測。In the past, sensing gloves were used to detect gestures. An example is the Dataglove described in US Patent No. 5,097,252, which uses an optical bending sensor along the finger to detect the position of the finger. Nintendo's Power Glove uses a similar design but has a resistive bend sensor. In both cases, the bending sensors are not very sensitive to provide only a single measurement of the overall bending of each bending sensor.

彎曲感測器用於除手指及手感測之外的應用中。其常用於更廣泛地理解人體運動。近十年來,高準確度感測器之開發及其低成本大規模生產已取得重大進展。此大部分由包含一感測器印象陣列之智慧型電話驅動。儘管取得此等進步,但仍有諸多實體世界事物已被證明極難使用一便宜精確裝置來感測。吾人考量感測一動態變形物體之形狀之挑戰性問題。Bending sensors are used in applications other than finger and hand sensing. It is often used to understand human movement more broadly. In the past ten years, significant progress has been made in the development of high-accuracy sensors and their low-cost mass production. Most of this is driven by smart phones that include an array of sensor impressions. Despite these advances, many things in the physical world have proven to be extremely difficult to sense with a cheap and accurate device. We consider the challenging problem of sensing the shape of a dynamically deforming object.

在諸多應用中期望理解形狀。在機器人學中,頻繁串接旋轉關節以允許必須經監測以被主動控制之靈巧多軸運動。發射一大型火箭可與「推繩子(pushing on a string)」相當,且其需要詳細理解動態撓曲。橋接器、儲存槽、平面、諸多其他結構經受重複負載循環且理解此等系統之變形可有助於防止災難。與人機互動(HCI)社群更密切相關,吾人身體係相當撓性的。在醫學及運動表現中,理解運動之範圍及類型通常係很重要的。運動捕獲對遊戲及電影兩種產業而言至關重要。在虛擬及擴增實境中,即時理解詳細手勢允許可信互動。針對表演,音樂家及其他藝術家可直覺地操縱形狀以提供關鍵系統之表達控制。It is desirable to understand shapes in many applications. In robotics, rotating joints are frequently connected in series to allow smart multi-axis motion that must be monitored to be actively controlled. Launching a large rocket can be equivalent to "pushing on a string", and it requires a detailed understanding of dynamic deflection. Bridges, storage tanks, planes, and many other structures are subject to repeated load cycles and understanding the deformation of these systems can help prevent disasters. More closely related to the Human-Computer Interaction (HCI) community, our personal system is quite flexible. In medical and sports performance, it is often important to understand the scope and type of exercise. Motion capture is critical to both the gaming and film industries. In virtual and augmented reality, real-time understanding of detailed gestures allows for credible interaction. For performances, musicians and other artists can intuitively manipulate shapes to provide expressive control of key systems.

為較佳理解具有多個關節之系統之位置,一些系統已每關節或在各關節點處使用一彎曲感測器。此方法存在限制其實用性之挑戰。例如,彎曲感測器必須客製配合關節之間的間距。對追蹤人體運動而言,配合間距之需要會因人體大小變動而成問題。To better understand the position of a system with multiple joints, some systems have used a bending sensor per joint or at each joint point. This method has challenges that limit its practicality. For example, the bending sensor must be customized to match the spacing between joints. For tracking human body movement, the need to match the distance will be a problem due to changes in the size of the human body.

另外,存在來自關節量測之串接誤差問題。例如,一手指之各連續分段之角度可判定為相對於該分段之關節角度之和。因此,針對各先前關節所採取之角度量測之任何誤差累積。因此,機械臂使用極高精度角編碼器來找到一適度精確位置。不幸地,便宜彎曲感測器具有較差角精度以使其無法理解串接關節誤差之影響。In addition, there is a problem of series connection error from joint measurement. For example, the angle of each continuous segment of a finger can be determined as the sum of the joint angles relative to the segment. Therefore, any errors in the angle measurements taken for each previous joint accumulate. Therefore, the robotic arm uses extremely high-precision angle encoders to find a reasonably accurate position. Unfortunately, cheap bending sensors have poor angular accuracy so that they cannot understand the effects of cascading joint errors.

系統已試圖藉由使用攝影機及其他感測技術直接量測手指位置來克服此缺點。基於攝影機之技術之挑戰在於難以找到觀看正在發生什麼之良好視點。其他位置感測器系統可能很龐大及/或昂貴。可使用慣性追蹤,但其具有嚴重漂移問題。The system has tried to overcome this shortcoming by using cameras and other sensing technologies to directly measure the position of the finger. The challenge of camera-based technology is that it is difficult to find a good point of view to see what is happening. Other position sensor systems may be bulky and/or expensive. Inertial tracking can be used, but it has serious drift problems.

亦存在容許沿一光纖束之長度量測彎曲且可還原一特定幾何之詳細形狀之光纖布拉格光柵感測器。此等感測器難以製造且需要大型笨重儀器及複雜校準。此外,其較昂貴且不適合於大部分應用。There are also fiber Bragg grating sensors that allow measurement of bending along the length of an optical fiber bundle and can restore the detailed shape of a specific geometry. These sensors are difficult to manufacture and require large and heavy instruments and complex calibration. In addition, it is relatively expensive and not suitable for most applications.

大部分先前工作使用給出彎曲之一單一量測之感測器。為感測複合曲線,吾人可採用一系列單彎曲感測器來構建連接關節之一模型。此在待感測之基本事物被很好地模型化為一系列連桿時效果很好。然而,感測器之放置需要先驗理解關節位置。例如,當模型化諸如一手指之人體關節時,人與人之間存在顯著位置變動以妨礙一通解。Most of the previous work uses sensors that give a single measurement of bending. To sense the compound curve, we can use a series of single bending sensors to build a model of one of the connected joints. This works well when the basic things to be sensed are well modeled as a series of links. However, the placement of the sensor requires a priori understanding of the joint position. For example, when modeling a human joint such as a finger, there are significant positional changes between people to prevent a general understanding.

複合曲線需要大量單彎曲感測器來提供形狀之一適當理解。不幸地,各額外彎曲感測器條來量測誤差,其累積以使系統之總體準確度逐漸降級。此嚴重限制可合理採用之單彎曲感測器之最大數目。Compound curves require a large number of single bend sensors to provide a proper understanding of one of the shapes. Unfortunately, each additional sensor strip is bent to measure the error, which accumulates to gradually degrade the overall accuracy of the system. This severely limits the maximum number of single bend sensors that can be reasonably used.

最近,已應用機器學習方法來理解具有諸多單彎曲感測器之系統之輸出。儘管此等系統有可能組合來自大量單彎曲感測器之讀數使得誤差不依此一直接方式累積,但其需要廣泛訓練。亦不清楚累積誤差之任何減小是否來自使系統不一般之強加約束。Recently, machine learning methods have been applied to understand the output of systems with many single bending sensors. Although these systems may combine readings from a large number of single bending sensors so that errors do not accumulate in this direct way, they require extensive training. It is also unclear whether any reduction in accumulated error comes from imposing constraints that make the system unusual.

偵測撓曲之最常用方式係藉由量測受應變之一材料之改變性質。Spectra Symbols之撓曲感測器係一實例。應變係撓曲之一問題指標。伸展、環境條件及其他因數會誘發不易於與歸因於彎曲之應變區分之應變。連續應變循環亦會引起材料疲勞。The most common way to detect deflection is by measuring the changing properties of a strained material. The Flex Sensor of Spectra Symbols is an example. One of the problem indicators of strain system deflection. Stretching, environmental conditions, and other factors can induce strains that are not easily distinguishable from strains due to bending. Continuous strain cycles can also cause material fatigue.

最常用之基於應變之彎曲感測器係電阻性、光學(其包含光纖布拉格光柵(FBG)感測器)、壓電或電容性的。吾人考量此等之各者且討論其操作。電阻性彎曲感測器類似於電阻性應變計,但針對大得多的彎曲來最佳化。一層電阻材料放置於一撓性基板上且隨著感測器彎曲而經歷應變。遠離具有電阻材料之側之一彎曲引起拉伸應變以增大電阻。The most commonly used strain-based bending sensors are resistive, optical (including fiber Bragg grating (FBG) sensors), piezoelectric or capacitive. We consider each of these and discuss their operations. Resistive bend sensors are similar to resistive strain gauges, but are optimized for much larger bends. A layer of resistive material is placed on a flexible substrate and undergoes strain as the sensor is bent. Bending away from one of the sides with the resistive material causes tensile strain to increase the electrical resistance.

電阻性感測器歸因於疲勞、材料老化及環境條件而遭受大漂移,且需要持續不斷再校準來達成更適中準確度。因為其僅提供彎曲之一單一量測,所以其無法區分複合曲線之形狀。例如,就監測手指彎曲而言,感測器無法使不同關節處之撓曲彼此區分。儘管電阻性彎曲感測器具有諸多限制,但其相當便宜且易於介接以允許用於諸多應用中。此等之最熟知者係Nintendo強力手套(用於遊戲之一早期消費性手勢介面裝置),已將商用撓曲感測器嵌入至柔軟及剛性兩種材料中以產生如開關或滑件之不同控制互動。已使用噴墨列印來形成客製化形狀以在兩個及三個維度上產生遊戲控制器及玩具。The electrical resistance sensor suffers from large drift due to fatigue, material aging, and environmental conditions, and requires continuous recalibration to achieve a more moderate accuracy. Because it only provides a single measurement of bending, it cannot distinguish the shape of the compound curve. For example, for monitoring finger bending, the sensor cannot distinguish the bending at different joints from each other. Although resistive bending sensors have many limitations, they are relatively cheap and easy to interface to allow their use in many applications. The most familiar of these is the Nintendo Power Gloves (used in one of the early consumer gesture interface devices in games). Commercial flex sensors have been embedded in soft and rigid materials to create differences such as switches or sliders. Control interaction. Inkjet printing has been used to form customized shapes to produce game controllers and toys in two and three dimensions.

光纖形狀感測器(FOSS)包括具有反射內壁之撓性管,其在對置端處具有一光發射器及接收器。FOSS藉由在撓性管彎曲時量測光之強度、相位、偏振或波長之改變來還原彎曲形狀。The optical fiber shape sensor (FOSS) includes a flexible tube with a reflective inner wall, which has a light emitter and a receiver at opposite ends. FOSS restores the curved shape by measuring changes in the intensity, phase, polarization, or wavelength of light when the flexible tube is bent.

光纖布拉格光柵(FBG)感測器採用已經處理以產生與一特定波長之光互動之一光柵之一光纖。隨著光纖彎曲,光柵機械膨脹或壓縮,其使關注波長移位。一般而言,使用一可調諧雷射來掃描變形光柵之新波長。不同波長光柵圖案可沿光纖放置於不同位置處以允許在各位置處獨立量測彎曲度。A fiber Bragg grating (FBG) sensor uses an optical fiber that has been processed to produce a grating that interacts with light of a specific wavelength. As the fiber is bent, the grating mechanically expands or compresses, which shifts the wavelength of interest. Generally speaking, a tunable laser is used to scan the new wavelength of the deformed grating. Different wavelength grating patterns can be placed at different positions along the fiber to allow independent measurement of bending at each position.

FOSS可極薄及輕質且對感測器之長度少有限制。其相對較精確且不受電磁干擾影響。儘管此等感測器可提供印象效能,但其價格非常高。一可調諧雷射詢問器要花多達USD$10,000,嚴重限制實際應用之一成本。儘管光纖可相當薄,但詢問器往往大而耗電。其需要複雜製程及校準及複雜信號處理。其具有曲率之受限量測範圍且非常快地陷於非線性。此等原因將其使用情況限制於如醫療裝置之非常特定應用,而不適用於人類日常生活。FOSS can be extremely thin and lightweight and has few restrictions on the length of the sensor. It is relatively accurate and unaffected by electromagnetic interference. Although these sensors can provide impression performance, their prices are very high. A tunable laser interrogator costs as much as USD$10,000, which severely limits the cost of practical applications. Although optical fibers can be quite thin, interrogators are often large and consume power. It requires complex manufacturing process and calibration and complex signal processing. It has a limited measurement range of curvature and sinks into nonlinearity very quickly. These reasons limit its use to very specific applications such as medical devices, and are not suitable for human daily life.

壓電彎曲感測器係基於壓電材料之變形及應變。此等變形改變材料之表面電荷密度且引起電極之間的電荷轉移。信號之振幅及頻率與所施加之機械應力成正比。類似於摩擦電感測器,壓電感測器遭受漂移且僅在運動時提供信號。此限制其僅應用於動態彎曲而非靜態或低頻變形。Piezoelectric bending sensors are based on the deformation and strain of piezoelectric materials. These deformations change the surface charge density of the material and cause charge transfer between electrodes. The amplitude and frequency of the signal are proportional to the applied mechanical stress. Similar to triboelectric sensors, piezoelectric sensors suffer from drift and only provide a signal when in motion. This restriction applies only to dynamic bending and not static or low-frequency deformation.

大部分電阻性應變感測器具有高延時且無法量測絕對彎曲角。導電材料之滯後性質在循環負載期間產生不同導電性。大部分電阻性及FBG (光纖布拉格光柵)感測器回應於大應變而呈非線性。Most resistive strain sensors have high latency and cannot measure the absolute bending angle. The hysteresis properties of conductive materials produce different conductivity during cyclic loading. Most resistive and FBG (fiber Bragg grating) sensors are nonlinear in response to large strains.

應變感測之一替代係吾人所謂之幾何感測。此等感測器藉由感測由於彎曲之幾何改變來明顯更直接地量測曲率。實例包含量測不同感測器層之相對位移。An alternative to strain sensing is what we call geometric sensing. These sensors measure curvature significantly more directly by sensing geometric changes due to bending. Examples include measuring the relative displacement of different sensor layers.

因此,需要一種透過使用感測器來準確判定彎曲且提高此彎曲之準確度之改良方法及設備。Therefore, there is a need for an improved method and device that can accurately determine the bend and improve the accuracy of the bend by using a sensor.

本申請案主張2019年9月20日申請之美國臨時申請案第62/903,272號之權利,美國臨時申請案第62/903,272號主張2019年8月15日申請之美國臨時申請案第62/887,324號之權利。本申請案係2019年2月8日申請之美國專利申請案第16/270,805號之一部分接續案,美國專利申請案第16/270,805號主張2018年10月22日申請之美國專利臨時申請案第62/748,984號之權利。所有上述申請案之內容以引用的方式併入本文中。本申請案包含受著作權保護之材料。著作權所有人不反對任何人傳真複製出現於(美國)專利商標局檔案或記錄中之專利揭示內容,但保留除此之外的所有著作權權益。This application claims the rights of U.S. Provisional Application No. 62/903,272 filed on September 20, 2019, and U.S. Provisional Application No. 62/903,272 claims U.S. Provisional Application No. 62/887,324 filed on August 15, 2019 The right of the number. This application is a partial continuation of the U.S. Patent Application No. 16/270,805 filed on February 8, 2019. The U.S. Patent Application No. 16/270,805 claims the U.S. Provisional Application No. 16/270,805 filed on October 22, 2018. No. 62/748,984 rights. The contents of all the above-mentioned applications are incorporated herein by reference. This application contains materials protected by copyright. The copyright owner does not object to anyone's fax copying of patent disclosures that appear in the files or records of the (US) Patent and Trademark Office, but reserves all copyright rights other than that.

本申請案描述多彎曲感測器及用於製造此等感測器之方法之各種實施例。本文中所描述之實施例及技術允許準確量測複合曲線。在一實施例中,一多彎曲感測器偵測多個彎曲。在一實施例中,一多彎曲感測器在多點上量測。This application describes various embodiments of multi-bend sensors and methods for manufacturing these sensors. The embodiments and techniques described herein allow accurate measurement of the composite curve. In one embodiment, a multi-bend sensor detects multiple bends. In one embodiment, a multi-bend sensor measures at multiple points.

在一實施例中,一多彎曲感測器係一電容性感測器。熟習技術者應注意,電容性彎曲感測器著眼於材料應變或感測器層之間的位移。無論何種方式,幾何改變依據彎曲角來變動用於電容性耦合之有效重疊表面積及/或導體之間的間距。電容性感測器可比其他技術更線性。其製造便宜且比電阻性感測器更穩定。In one embodiment, a multi-bend sensor is a capacitive sensor. Those skilled in the art should note that capacitive bending sensors focus on material strain or displacement between sensor layers. Either way, the geometric change varies the effective overlap surface area for capacitive coupling and/or the spacing between conductors depending on the bending angle. Capacitive sensors can be more linear than other technologies. It is cheaper to manufacture and more stable than resistance sensors.

在一實施例中,一多彎曲感測器係用於感測彎曲且重建曲線之詳細形狀之一低成本、精確、動態感測器。在一實施例中,一多彎曲感測器包括可形成為一平面內之複合曲線之撓性條之一堆疊。在一實施例中,一多彎曲感測器藉由在多點處註記感測器之內層與外層之前的相對移位來量測曲率。In one embodiment, a multi-bend sensor is a low-cost, accurate, and dynamic sensor for sensing bending and reconstructing the detailed shape of the curve. In one embodiment, a multi-bend sensor includes a stack of flexible strips that can be formed as a compound curve in a plane. In one embodiment, a multi-bend sensor measures the curvature by noting the relative displacements of the inner and outer layers of the sensor at multiple points.

在一實施例中,一多彎曲感測器量測兩個條之間的相對移位以量測複合曲線。在一實施例中,一多彎曲感測器包括可動態形成為一平面內之複合曲線之至少兩個撓性條。在一實施例中,一多彎曲感測器包括複數個發射及接收電極分段。在一實施例中,一分段上之量測誤差引起下一分段上之另一方向之一補償誤差。所描述之實施例展示優於相當複雜曲線之聯合編碼之品質。在一實施例中,一多彎曲感測器藉由在多點處註記感測器之內層與外層之間的相對移位來量測局部曲率且將形狀模型化為一系列連接弧。在一實施例中,提供用於感測一動態變形之形狀之技術。In one embodiment, a multi-bend sensor measures the relative displacement between two bars to measure the composite curve. In one embodiment, a multi-bend sensor includes at least two flexible strips that can be dynamically formed as a compound curve in a plane. In one embodiment, a multi-bend sensor includes a plurality of transmitting and receiving electrode segments. In one embodiment, a measurement error on one segment causes a compensation error in the other direction on the next segment. The described embodiment exhibits superior quality to joint coding of fairly complex curves. In one embodiment, a multi-bend sensor measures the local curvature and models the shape as a series of connected arcs by noting the relative displacement between the inner and outer layers of the sensor at multiple points. In one embodiment, a technique for sensing a dynamically deformed shape is provided.

現參考圖1及圖2,展示一多彎曲感測器10之一實施例。圖1展示多彎曲感測器10之一示意性側視圖。在所展示之實施例中,多彎曲感測器10具有一滑動條12及一參考條14。圖2展示參考條14之一俯視圖及滑動條12之一仰視圖。滑動條12在參考條14之一遠端16處固定至參考條14。在所展示之實施例中,一間隔物18定位於滑動條12與參考條14之間。在一實施例中,一多彎曲感測器10具有多個間隔物18。另外,展示使滑動條12及參考條14保持緊靠間隔物18之保持器22。在一實施例中,一多彎曲感測器10包括在一端處結合在一起之複數個撓性條。在一實施例中,滑動條12及參考條14由至少一間隔物18分離且其中滑動條12及參考條14經由將其等壓縮成緊靠至少一間隔物18之一彈性套筒來依一恆定距離保持分開。Referring now to FIGS. 1 and 2, an embodiment of a multi-bend sensor 10 is shown. FIG. 1 shows a schematic side view of a multi-bend sensor 10. In the illustrated embodiment, the multi-bend sensor 10 has a sliding bar 12 and a reference bar 14. FIG. 2 shows a top view of the reference bar 14 and a bottom view of the sliding bar 12. The sliding bar 12 is fixed to the reference bar 14 at one of the distal ends 16 of the reference bar 14. In the illustrated embodiment, a spacer 18 is positioned between the sliding bar 12 and the reference bar 14. In one embodiment, a multi-bend sensor 10 has a plurality of spacers 18. In addition, a holder 22 that keeps the sliding bar 12 and the reference bar 14 close to the spacer 18 is shown. In one embodiment, a multi-bend sensor 10 includes a plurality of flexible strips joined together at one end. In one embodiment, the sliding bar 12 and the reference bar 14 are separated by at least one spacer 18, and the sliding bar 12 and the reference bar 14 are compressed by an elastic sleeve which is close to the at least one spacer 18. Keep a constant distance apart.

經調適以接收及處理發生之量測之電路系統24可操作地連接至滑動條12及參考條14。在所展示之實施例中,電路系統24可包括組件或可操作地連接至組件,諸如處理器、信號產生器、接收器、連接器等等。The circuit system 24 adapted to receive and process the measurements that take place is operatively connected to the slider 12 and the reference bar 14. In the illustrated embodiment, the circuitry 24 may include components or be operatively connected to components, such as processors, signal generators, receivers, connectors, and so on.

滑動條12及參考條14可由撓性印刷電路板條形成。儘管滑動條12及參考條14展示為具有特定電極圖案,但應瞭解,可改變各自條之各者之作用且滑動條12可充當參考條14且反之亦然,其取決於特定實施方案。電極20可放置於滑動條12及參考條14之表面上。電極20經調適以發射及接收信號。電極20可配置成能夠在滑動條12及參考條14之彎曲期間判定一改變之任何圖案。另外,實施於滑動條12及參考條14上之電極20之數目、大小及形狀可基於一特定實施方案來改變。在一實施方案中,電路系統24可操作地連接至電極20。電路系統24處理自電極20接收之信號以隨著條形成為曲線而量測不同條中之電極之間的相對移位。The sliding bar 12 and the reference bar 14 may be formed of flexible printed circuit boards. Although the slide bar 12 and the reference bar 14 are shown with specific electrode patterns, it should be understood that the role of each of the respective bars can be changed and the slide bar 12 can serve as the reference bar 14 and vice versa, depending on the specific implementation. The electrode 20 can be placed on the surface of the sliding bar 12 and the reference bar 14. The electrode 20 is adapted to transmit and receive signals. The electrode 20 can be configured in any pattern that can determine a change during the bending of the slider 12 and the reference bar 14. In addition, the number, size, and shape of the electrodes 20 implemented on the sliding bar 12 and the reference bar 14 can be changed based on a specific implementation. In one embodiment, the circuit system 24 is operatively connected to the electrode 20. The circuit system 24 processes the signals received from the electrodes 20 to measure the relative displacement between the electrodes in different bars as the bars are formed into a curve.

仍參考圖1及圖2,滑動條12及參考條14係撓性的且能夠移動及彎曲。另外,放置於滑動條12與參考條14之間的間隔物18係撓性的且能夠移動及彎曲。在一實施例中,間隔物18可具有相對於滑動條12及參考條14之不同撓性度。在一實施例中,滑動條12、參考條14及間隔物18可各具有不同撓性度。在一實施例中,不存在間隔物18且滑動條12及參考條14相對於彼此移動。Still referring to FIGS. 1 and 2, the sliding bar 12 and the reference bar 14 are flexible and capable of moving and bending. In addition, the spacer 18 placed between the sliding bar 12 and the reference bar 14 is flexible and can move and bend. In an embodiment, the spacer 18 may have different degrees of flexibility relative to the sliding bar 12 and the reference bar 14. In an embodiment, the sliding bar 12, the reference bar 14 and the spacer 18 may each have a different degree of flexibility. In an embodiment, there is no spacer 18 and the sliding bar 12 and the reference bar 14 move relative to each other.

不管彎曲量如何,用於實施例中之間隔物18較佳地使條依一恆定距離保持間隔,但仍容許相對滑動。間隔物18較佳地具有能夠在存在彎曲時容許滑動條12及參考條14之長度之間存在差異之一厚度。在一實施例中,可不存在間隔物且滑動條12及參考條14可彼此鄰接,然而,外向側之間應存在足以容許在一彎曲期間感測滑動條12與參考條14之間的相對移位之距離。在一實施例中,間隔物18可具有相同於滑動條12及參考條14之撓性。一厚間隔物18將提供一良好移位量,但間隔物18本身會因一急彎曲而改變厚度。一薄間隔物18不會遇到此問題,但無法提供適當移位。在一實施例中,間隔物18可由緊靠彼此滑動之一系列薄層製成。此允許一厚間隔物18具有非常急彎曲且不改變總體厚度。Regardless of the amount of bending, the spacer 18 used in the embodiment preferably keeps the strips spaced at a constant distance, but still allows relative sliding. The spacer 18 preferably has a thickness that allows a difference between the length of the sliding bar 12 and the reference bar 14 when there is bending. In one embodiment, there may be no spacers and the sliding bar 12 and the reference bar 14 may be adjacent to each other. However, there should be sufficient to allow the relative movement between the sliding bar 12 and the reference bar 14 to be sensed during a bending period. The distance between bits. In an embodiment, the spacer 18 may have the same flexibility as the sliding bar 12 and the reference bar 14. A thick spacer 18 will provide a good amount of displacement, but the spacer 18 itself will change thickness due to a sharp bend. A thin spacer 18 does not suffer from this problem, but cannot provide proper displacement. In one embodiment, the spacer 18 may be made of a series of thin layers that slide against each other. This allows a thick spacer 18 to have very sharp bends without changing the overall thickness.

參考層與滑動層之間具有一已知間距有助於獲得準確資料。確保間距可由不同方法完成。如上文相對於圖1所討論,保持器22可附裝至一條且向緊靠其滑動之另一條提供壓縮力。保持器22可為向參考條14及滑動條12提供一壓縮力之塑膠或彈性件。壓縮力應使得其維持距離但不抑制參考條14及滑動條12之移動。在一實施例中,彈性套筒可用於達成相同任務以提供壓縮力。A known distance between the reference layer and the sliding layer helps to obtain accurate data. Ensure that the spacing can be accomplished by different methods. As discussed above with respect to FIG. 1, the retainer 22 can be attached to one strip and provide compressive force to the other strip that slides against it. The holder 22 may be a plastic or elastic member that provides a compressive force to the reference bar 14 and the sliding bar 12. The compression force should be such that it maintains the distance but does not inhibit the movement of the reference bar 14 and the slide bar 12. In one embodiment, an elastic sleeve can be used to accomplish the same task to provide compression force.

在端部分16處,滑動條12及參考條14固定在一起。在一實施例中,滑動條12及參考條14機械附接在一起。在一實施例中,滑動條12及參考條14一體地彼此固定在一起。在一實施例中,滑動條12及參考條14在除遠端之外的一位置處固定。在一實施例中,滑動條12及參考條14在條之中間固定。在沿滑動條12及參考條14之長度之其他位置處,滑動條12及參考條14相對於彼此滑動。滑動條12及參考條14亦緊靠間隔物18相對於彼此滑動。保持器22確保滑動條12及參考條14保持緊貼間隔物18以使其等之間保持一恆定距離。電路系統24及條之間的電連接位於其中發生彎曲之感測區域外側。在圖1及圖2所展示之實施例中,電路系統24定位成接近其中結合滑動條12及參考條14之端部分16。滑動條12及參考條14含有電極20之圖案,其將藉由透過間隔物18量測來自滑動條12上之電極20及參考條14上之電極20之耦合來允許電子器件偵測多個位置處之兩個條之間的相對移位。At the end portion 16, the sliding bar 12 and the reference bar 14 are fixed together. In an embodiment, the sliding bar 12 and the reference bar 14 are mechanically attached together. In one embodiment, the sliding bar 12 and the reference bar 14 are integrally fixed to each other. In one embodiment, the sliding bar 12 and the reference bar 14 are fixed at a position other than the distal end. In one embodiment, the sliding bar 12 and the reference bar 14 are fixed in the middle of the bar. At other positions along the length of the sliding bar 12 and the reference bar 14, the sliding bar 12 and the reference bar 14 slide relative to each other. The sliding bar 12 and the reference bar 14 also slide against each other against the spacer 18. The holder 22 ensures that the sliding bar 12 and the reference bar 14 remain close to the spacer 18 to maintain a constant distance between them. The electrical connection between the circuit system 24 and the strip is located outside the sensing area where the bending occurs. In the embodiment shown in FIGS. 1 and 2, the circuit system 24 is positioned close to the end portion 16 where the sliding bar 12 and the reference bar 14 are combined. The slide bar 12 and the reference bar 14 contain the pattern of the electrode 20, which will allow the electronic device to detect multiple positions by measuring the coupling from the electrode 20 on the slide bar 12 and the electrode 20 on the reference bar 14 through the spacer 18 The relative displacement between the two bars.

可使用經實施以產生撓性電路之材料及技術來進行上文所討論之實施例。撓性電路可開始於諸如聚醯亞胺之一撓性絕緣基板。一薄導電層(諸如銅、銀、金、碳或一些其他適當導電材料)使用一黏著劑來黏著至基板。在一實施例中,使用光微影技術來圖案化導電層。在一實施例中,藉由濺鍍來施加導電層。在一實施例中,藉由印刷來施加導電層。當經由印刷來施加時,可將導電油墨直接圖案化至基板上。The embodiments discussed above can be carried out using materials and techniques implemented to produce flexible circuits. The flexible circuit can start with a flexible insulating substrate such as polyimide. A thin conductive layer (such as copper, silver, gold, carbon or some other suitable conductive material) is adhered to the substrate using an adhesive. In one embodiment, photolithography technology is used to pattern the conductive layer. In one embodiment, the conductive layer is applied by sputtering. In one embodiment, the conductive layer is applied by printing. When applied via printing, the conductive ink can be directly patterned onto the substrate.

類似於剛性印刷電路板(PCB),可製造包含由絕緣體分離之多個導電層之撓性電路。通路可提供不同層之間的連接。如同剛性PCB,可使用焊接及其他熟知技術來將標準電組件附裝至撓性電路。然而,因為一些組件不具撓性,所以使其附件撓曲會導致斷裂電連接。為此,撓性電路可在組件區域中採用加強件,使得電路區域不明顯撓曲。由於類似原因,撓性電路往往不在實際彎曲之區域中放置通路,因為該等區域中之應力有時會導致斷裂。Similar to rigid printed circuit boards (PCBs), flexible circuits can be manufactured that include multiple conductive layers separated by insulators. Vias can provide connections between different layers. As with rigid PCBs, soldering and other well-known techniques can be used to attach standard electrical components to flexible circuits. However, because some components are not flexible, flexing their accessories can cause electrical connections to break. For this reason, the flexible circuit can adopt reinforcements in the component area, so that the circuit area is not significantly flexed. For similar reasons, flex circuits often do not place vias in areas where they are actually bent, because stress in these areas can sometimes cause breakage.

多彎曲感測器之諸多電極圖案可受益於在彎曲區域中使用層間連接。Dupont® 已開發經專門設計以承受重複撓曲之特殊導電油墨。然而,亦可使用其他適合撓性導電油墨。此等油墨可實施於本文中所討論之多彎曲感測器中。撓性油墨容許導電層之間的撓性連接以發揮通路之作用。應注意,此等撓性導電油墨與包含織物之各種基板相容。此允許建構直接整合至服裝中之多彎曲感測器。另外,在一實施例中,服裝由充當多彎曲感測器之纖維製成。當實施多彎曲感測器纖維時,可添加加強件以限制多彎曲感測器纖維之移動。The many electrode patterns of the multi-bend sensor can benefit from the use of interlayer connections in the bend area. Dupont ® has developed special conductive inks specifically designed to withstand repeated deflection. However, other suitable flexible conductive inks can also be used. These inks can be implemented in the multi-bend sensors discussed herein. The flexible ink allows flexible connections between conductive layers to function as a pathway. It should be noted that these flexible conductive inks are compatible with various substrates including fabrics. This allows the construction of multiple bend sensors that are directly integrated into the garment. In addition, in one embodiment, the garment is made of fibers that act as multi-bend sensors. When implementing multi-bend sensor fibers, reinforcements can be added to limit the movement of the multi-bend sensor fibers.

在以下討論中,包括一滑動條及一參考條之一多彎曲感測器可類比於由厚度t之一間隔物分離之長度L之一對捲尺,如圖3中所展示。在一實施例中,類似於一本書之裝訂,兩條在一端上結合在一起。在一實施例中,當兩條在一平坦定向上時,該對捲尺之假想距離標記完全對準。然而,若該對捲尺圍繞半徑r之一圓柱體形成,則內捲尺將形成為半徑r之一圓弧,而外捲尺將形成為半徑r+t之一圓弧(如圖5中所展示及如下文將更詳細討論)。因為其等在一端上結合,所以兩個捲尺之零標記仍將對準,但其他標記將變得逐漸不對準。此係因為要用更多捲尺來對應一較大半徑上之相同角。在一實施例中,當一多彎曲感測器圍繞一圓弧形成時,可在僅知道間距及捲尺之間的相對移位之情況下計算半徑r。在一實施例中,可類似地在沿感測器之多點處量測相對移位以允許吾人量測各連續分段之曲率。依此方式,吾人可量測很好地模型化為一系列圓弧之複合曲線。In the following discussion, a multi-bend sensor including a sliding bar and a reference bar can be analogous to a pair of tape measures of length L separated by a spacer of thickness t, as shown in FIG. 3. In one embodiment, similar to the binding of a book, two pieces are joined together at one end. In one embodiment, when the two tapes are in a flat orientation, the imaginary distance marks of the pair of tape measures are completely aligned. However, if the pair of tape measures are formed around a cylinder of radius r, the inner tape measure will be formed as an arc of radius r, and the outer tape measure will be formed as an arc of radius r+t (as shown in Figure 5 and As discussed in more detail below). Because they are combined on one end, the zero mark of the two tape measures will still be aligned, but the other marks will gradually become misaligned. This is because more tapes are used to correspond to the same angle on a larger radius. In one embodiment, when a multi-bend sensor is formed around an arc, the radius r can be calculated with only the distance and the relative displacement between the tape measures. In one embodiment, the relative displacement can be similarly measured at multiple points along the sensor to allow us to measure the curvature of each successive segment. In this way, we can measure a compound curve that is well modeled as a series of arcs.

現參考圖3至圖5,當多彎曲感測器包繞呈一圓形之一物體時,兩個條之內者與圓形等形,而外條歸因於間隔物18之厚度而與一略大圓形等形。Referring now to FIGS. 3 to 5, when the multi-bend sensor is wrapped around an object in a circle, the inner of the two bars is the same shape as the circle, and the outer bar is due to the thickness of the spacer 18. A slightly larger round shape.

因為兩個條具有不同曲率半徑,所以不受約束端將彼此不對準。可藉由知道條(滑動條12及參考條14)之長度及間隔物18之厚度來直接計算半徑。若量測多個位置處之兩個條之間的相對移位,則可建構作為一系列圓弧之一彎曲模型。此提供遠好於傳統感測器之彎曲形狀之一理解。Because the two bars have different radii of curvature, the unconstrained ends will not be aligned with each other. The radius can be calculated directly by knowing the length of the bars (the slider 12 and the reference bar 14) and the thickness of the spacer 18. If the relative displacement between two bars at multiple positions is measured, a bending model can be constructed as one of a series of arcs. This provides a far better understanding of the curved shape of traditional sensors.

仍參考圖3至圖5,為繪示多彎曲感測器工作之方式,採用由厚度t之一間隔物18分離之長度L之兩個條(滑動條12及參考條14)。滑動條12及參考條14在端點16處結合在一起且無法在該端處相對於彼此移動。當參考條14包繞成半徑r之一圓形(如圖4中所展示)時,參考條14將具有r之一曲率半徑,而滑動條12將具有r-t之一較小半徑。Still referring to FIGS. 3 to 5, in order to illustrate the working mode of the multi-bend sensor, two bars (the sliding bar 12 and the reference bar 14) of length L separated by a spacer 18 of a thickness t are used. The sliding bar 12 and the reference bar 14 are joined together at the end point 16 and cannot move relative to each other at this end. When the reference bar 14 is wrapped in a circle with a radius r (as shown in FIG. 4), the reference bar 14 will have a radius of curvature r, and the sliding bar 12 will have a smaller radius r-t.

圓形之周長係2πr。長度L之參考條14覆蓋圓形之一分率:

Figure 02_image001
The circumference of a circle is 2πr. The reference strip 14 of length L covers one part of the circle:
Figure 02_image001

以弧度而言,由此條對應之角度係:

Figure 02_image003
In terms of radians, the angle corresponding to this line is:
Figure 02_image003

如圖式中所展示,當沿厚度量測t之方向捲曲時,滑動條12在內側上以一較小曲率半徑結束。較緊密包繞意謂部分滑動條12延伸超過參考條14之端。若此沿相同半徑之一圓形繼續,則滑動條12對應以下角度:

Figure 02_image005
As shown in the figure, when curled in the direction of the thickness measurement t, the sliding bar 12 ends with a smaller radius of curvature on the inner side. Closer wrapping means that part of the sliding strip 12 extends beyond the end of the reference strip 14. If this continues along a circle with the same radius, the slider 12 corresponds to the following angle:
Figure 02_image005

參考條14之端與內滑動條12上之一對應點30對齊。為給出一更精確界定,其係滑動條12上與穿過參考條14之端點所建構之法線之相交點。The end of the reference bar 14 is aligned with a corresponding point 30 on the inner sliding bar 12. In order to give a more precise definition, it is the intersection point on the sliding bar 12 with the normal line constructed through the end points of the reference bar 14.

可藉由求出兩個弧之角範圍差、求出延伸長度ss 及自總長度L減去此來在滑動條12上找出此點。

Figure 02_image007
This point can be found on the slider 12 by finding the difference in the angular range of the two arcs, finding the extension length s s, and subtracting this from the total length L.
Figure 02_image007

可藉由使角範圍(以弧度為單位)除以2π以求出圓之分率且乘以周長來求出延伸超過滑動條12之滑動條12之分段之長度ss

Figure 02_image009
The length s s of the section of the slider 12 extending beyond the slider 12 can be obtained by dividing the angular range (in radians) by 2π to find the fraction of the circle and multiplying by the circumference.
Figure 02_image009

解算半徑r之此等方程式給出:

Figure 02_image011
Solving these equations for radius r gives:
Figure 02_image011

藉由量測條之間的相對移位,可使用此簡單方程式來計算跨長度之曲率半徑。By measuring the relative displacement between bars, this simple equation can be used to calculate the radius of curvature of the span length.

現考量沿一順時針方向發生彎曲之情況,如圖5中所展示。Now consider the case of bending in a clockwise direction, as shown in Figure 5.

分析大多進行如前,但現在滑動條12位於外側上,具有r+t之一曲率半徑。

Figure 02_image003
Figure 02_image013
The analysis is mostly performed as before, but now the slider 12 is located on the outer side and has a radius of curvature of r+t.
Figure 02_image003
Figure 02_image013

如同之前,目標係定位對應於參考條14之端點之滑動條12上之對應電31。然而,因為滑動條12位於外側上且因此對應一較小角,所以必須延續弧以找出相交點。藉由求出對應角及滑動條12上之對應長度來計算ss

Figure 02_image015
Figure 02_image017
As before, the target system locates the corresponding cell 31 on the slide bar 12 corresponding to the end point of the reference bar 14. However, because the slider 12 is located on the outside and therefore corresponds to a smaller angle, the arc must be continued to find the intersection point. Calculate s s by finding the corresponding angle and the corresponding length on the slider 12.
Figure 02_image015
Figure 02_image017

此係相同於逆時針情況中所獲得之結果之結果。此處差異在於:在第一情況中,ss 係滑動條12延伸超過參考條14之量,而在此情況中,其係到達參考條14之端所需之額外量。This is the same result as the result obtained in the counterclockwise case. Here the difference is that: in a first case, s s Elongation slider 12 exceeds the amount of the reference bar 14, and in this case, the system reaches its desired additional amount of the end 14 of the reference article.

為組合此等兩種情況,將曲率半徑視為一帶正負號量,其中一正r指示沿一逆時針方向行進之一弧且一負r指示一順時針方向。To combine these two situations, the radius of curvature is regarded as a signed quantity, where a positive r indicates an arc traveling in a counterclockwise direction and a negative r indicates a clockwise direction.

一新變數Ls 界定為與參考條14之端對齊之沿滑動條12之總長度。帶正負號之曲率半徑係:

Figure 02_image019
A new variable L s is defined as the total length of the slide bar 12 aligned with the end of the reference bar 14. Radius of curvature system with sign:
Figure 02_image019

在圖4中,Ls <L給出一正曲率半徑。在圖5中,Ls >L給出一負曲率半徑。接著,使用帶正負號之曲率半徑來求出參考條之帶正負號角範圍。

Figure 02_image021
In Figure 4, L s <L gives a positive radius of curvature. In Figure 5, L s > L gives a negative radius of curvature. Next, use the radius of curvature with the sign to find the range of the horn with the sign of the reference strip.
Figure 02_image021

在下文中,所有角度及曲率半徑係帶正負號的。自移位量測重建曲線 In the following, all angles and radii of curvature are marked with signs. Self-displacement measurement reconstruction curve

在一實施例中,多彎曲感測器將形狀模型化為不同半徑之一系列圓弧以允許複合曲線。可藉由量測沿條之多點處之相對移位來快速判定各分段之曲率。In one embodiment, the multi-bend sensor models the shape as a series of arcs of different radii to allow compound curves. The curvature of each segment can be quickly determined by measuring the relative displacement at multiple points along the strip.

圖6中所展示之多彎曲感測器10包括一滑動條12及一參考條14。目標係求出參考條14之形狀。依沿參考條之固定間隔量測沿滑動條12之對應移位位置。對應意謂使用位於相對於曲率半徑之共同中心具有相同角度之點。換言之,若在量測點處建構參考條14之曲線之一法線,則將在其與滑動條12相交之位置進行一量測。The multi-bend sensor 10 shown in FIG. 6 includes a sliding bar 12 and a reference bar 14. The goal is to find the shape of the reference bar 14. The corresponding displacement position of the sliding bar 12 is measured at a fixed interval along the reference bar. Correspondence means to use points located at the same angle with respect to the common center of the radius of curvature. In other words, if a normal line of the curve of the reference bar 14 is constructed at the measurement point, a measurement will be performed at the position where it intersects the sliding bar 12.

現參考圖7,提供參考條14及滑動條12兩者上之自n跨越至n+1之一單一圓弧分段(分段n)作為一實例。分段n塑形為沿一逆時針方向之半徑r[n]之一圓弧。因此,參考條14具有半徑r[n],而滑動條位於內側具有r[n]-t之一較小半徑。起始角θ[n]相切於弧開始處。結束角相切於弧結束處,θ[n+1]。類似於上述計算,Lr [n]係至量測點n之參考條14之長度。Ls [n]係至量測點n之滑動條12之長度。在參考條14之側上,分段開始於Lr [n]且結束於Lr [n+1]。類似地,對應滑動條12自Ls [n]延伸至Ls [n+1]。可求出參考條14分段之帶正負號曲率半徑及帶正負號角範圍。Referring now to FIG. 7, a single arc segment (segment n) spanning from n to n+1 on both the reference bar 14 and the sliding bar 12 is provided as an example. The segment n is shaped into an arc of a radius r[n] along a counterclockwise direction. Therefore, the reference bar 14 has a radius r[n], and the sliding bar has a smaller radius r[n]-t on the inside. The starting angle θ[n] is tangent to the beginning of the arc. The end angle is tangent to the end of the arc, θ[n+1]. Similar to the above calculation, L r [n] is the length of the reference bar 14 to the measurement point n. L s [n] is the length of the slider 12 to the measuring point n. On the side of the reference bar 14, the segmentation starts at L r [n] and ends at L r [n+1]. Similarly, the corresponding slider 12 extends from L s [n] to L s [n+1]. The radius of curvature with signs and the range of horns with signs can be obtained for the 14 sections of the reference bar.

吾人將分段n中之參考條14之長度界定為:

Figure 02_image023
We define the length of reference 14 in subsection n as:
Figure 02_image023

且將對應滑動條之長度界定為:

Figure 02_image025
And define the length of the corresponding slider as:
Figure 02_image025

類似地,吾人將此分段之總對應角界定為:

Figure 02_image027
Similarly, we define the total corresponding angle of this segment as:
Figure 02_image027

就正曲率(r[n]>0且Δθ[n]>0)而言,滑動條12塑形為比參考條14更緊密之一曲線。因此,ΔLs [n]<ΔLr [n],即使其等對應相同角Δθ[n]。以弧度表示,參考分段之長度係:

Figure 02_image029
In terms of positive curvature (r[n]>0 and Δθ[n]>0), the sliding bar 12 is shaped into a curve that is tighter than the reference bar 14. Therefore, ΔL s [n] <ΔL r [n], even if they correspond to the same angle Δθ [n]. Expressed in radians, the length of the reference segment is:
Figure 02_image029

且對應滑動分段之長度係:

Figure 02_image031
And the length of the corresponding sliding segment is:
Figure 02_image031

鑑於兩個長度及間隔物厚度,吾人可解算此分段之曲率半徑:

Figure 02_image033
Given the two lengths and the thickness of the spacer, we can calculate the radius of curvature of this segment:
Figure 02_image033

此方程式同樣適用於曲線順時針行進以給出一負結束角及負曲率半徑時。吾人亦可解算弧之對應角:

Figure 02_image035
This equation is also applicable when the curve travels clockwise to give a negative end angle and a negative radius of curvature. We can also calculate the corresponding angle of the arc:
Figure 02_image035

現知道已知長度、角範圍及曲率半徑之一系列圓弧。此系列可拼在一起以模型化參考條14之完整曲線。應注意,在一實施例中,多彎曲感測器具有沿其長度之連續撓曲,因此,其一階導數本身係連續的。因此,為維持分段間之一連續一階導數,鄰接分段之切線要匹配。換言之,各分段之結束角匹配下一分段之起始角。Now we know a series of arcs with known length, angle range and radius of curvature. This series can be put together to model the complete curve of the reference bar 14. It should be noted that in one embodiment, the multi-bend sensor has continuous deflection along its length, so its first derivative itself is continuous. Therefore, in order to maintain a continuous first derivative between segments, the tangents of adjacent segments must match. In other words, the end angle of each segment matches the start angle of the next segment.

考量一單一弧,如圖8中所展示。可判定其端點與弧相切之一起始角72 (θ[n])及一結束角74 (θ[n+1])。可假定循序分段平滑連接,即,導數在連接點處連續。此係連接點由一單一切線角描述之原因。Consider a single arc, as shown in Figure 8. A starting angle 72 (θ[n]) and an ending angle 74 (θ[n+1]) of the end tangent to the arc can be determined. It can be assumed that the sequential segments are connected smoothly, that is, the derivative is continuous at the connection point. This is the reason why the connection point is described by a single cut angle.

弧開始於一已知起始點71 ((x[n], y[n]))及一初始已知角72 (θ[n]),且行進至一未知結束點73 ((x[n+1], y[n+1]))、一未知結束角74 (θ[n+1])。The arc starts at a known starting point 71 ((x[n], y[n])) and an initial known angle 72 (θ[n]), and travels to an unknown ending point 73 ((x[n +1], y[n+1])), an unknown end angle 74 (θ[n+1]).

自起始點至結束點之角改變恰為分段轉角Δθ[n]。為求出x、y平移,將弧上之x及y之增量添加至前一點。為方便起見,弧之曲率半徑之中心被視為在原點處且用於計算端點位置。接著,將此等之差應用於已知起始點。The angle change from the start point to the end point is exactly the segmented turning angle Δθ[n]. To find the x and y translation, add the x and y increments on the arc to the previous point. For convenience, the center of the radius of curvature of the arc is considered to be at the origin and used to calculate the end point position. Then, apply these differences to the known starting point.

為了此計算,要知道形成弧之自中心之角度。θ[n]之法向角係

Figure 02_image037
。針對正曲率半徑之一弧,此給出自曲率半徑之中心指出之角度。若曲率半徑係負的,則其指向相反方向。此導致藉由使用帶正負號曲率半徑來校正之一正負號翻轉。接著,可經由此等方程式來迭代求出端點:
Figure 02_image039
Figure 02_image041
For this calculation, it is necessary to know the angle from the center that forms the arc. The normal angle system of θ[n]
Figure 02_image037
. For an arc with a positive radius of curvature, this gives the angle pointed from the center of the radius of curvature. If the radius of curvature is negative, it points in the opposite direction. This leads to correction of a sign flip by using the signed radius of curvature. Then, iteratively find the endpoints through these equations:
Figure 02_image039
Figure 02_image041

可使用三角恆等式來略微簡化此等方程式。

Figure 02_image043
Figure 02_image045
Trigonometric identities can be used to slightly simplify these equations.
Figure 02_image043
Figure 02_image045

此等方程式描述模型化彎曲之圓弧系列。一圓弧通常由其中心75 ((Cx [n], Cy [n]))、其曲率半徑76 (r[n])、一起始角及一角範圍77 (θr [n])描述。These equations describe a series of arcs for modeling bending. An arc is usually described by its center 75 ((C x [n], C y [n])), its radius of curvature 76 (r[n]), a starting angle, and an angle range 77 (θ r [n]) .

可藉由以(x[n], y[n])開始依循半徑至弧中心(Cx [n], Cy [n])來求出一弧分段之中心。自點(x[n], y[n])處之法向角(其係

Figure 02_image047
)求出起始角。接著,中心係:
Figure 02_image049
Figure 02_image051
The center of an arc segment can be found by starting with (x[n], y[n]) and following the radius to the arc center (C x [n], C y [n]). The normal angle from the point (x[n], y[n]) (its system
Figure 02_image047
) Find the starting angle. Next, the center department:
Figure 02_image049
Figure 02_image051

應注意,使用帶正負號之曲率半徑確保依循至中心之法線。It should be noted that the use of a sign with a radius of curvature ensures that the normal to the center is followed.

起始角係:

Figure 02_image053
Starting angle system:
Figure 02_image053

若弧順時針行進,則需要正負號來翻轉角度。弧之範圍係θr [n],其亦係一帶正負號值。量測誤差之敏感度 If the arc travels clockwise, a sign is needed to flip the angle. The range of the arc is θ r [n], which is also a value with a sign. Sensitivity to measurement error

移位之任何真實量測不會是完美的,其使理解量測誤差如何影響模型化曲線之準確度變得很重要。在關節臂中,關節角之雜訊量測快速累積以引起末端效應器之最終位置之顯著誤差。例如,在多軸機械臂上,通常經由一系列編碼器(各關節上一個)來判定位置。通常需要高精度編碼器,因為各關節量測之任何誤差會累積。針對一平面臂,臂之端處之角誤差僅為各關節中之所有量測誤差之和。端點之位置誤差亦受所有關節誤差(特定言之,臂之開始處之關節誤差)嚴重影響。Any real measurement of displacement will not be perfect, which makes it important to understand how measurement error affects the accuracy of the modeled curve. In the articulated arm, the noise measurement of the joint angle quickly accumulates to cause a significant error in the final position of the end effector. For example, on a multi-axis robot arm, a series of encoders (one on each joint) are usually used to determine the position. Usually a high-precision encoder is required because any errors in the measurement of each joint will accumulate. For a plane arm, the angular error at the end of the arm is only the sum of all measurement errors in each joint. The position error of the end point is also severely affected by all joint errors (specifically, the joint error at the beginning of the arm).

多彎曲感測器中之量測誤差係更寬容的。在一實施例中,緩解誤差傳播,因為各弧之量測誤差不是獨立的。The measurement error in the multi-bend sensor is more tolerant. In one embodiment, error propagation is mitigated because the measurement errors of each arc are not independent.

作為一實例,考量具有兩個量測點之一多彎曲感測器之情況。藉由判定第一量測點處之相對移位來求出第一分段之曲率。在此實例中,量測由雜訊訛誤且記錄一不正確低移位讀數。接著,藉由採用第二量測點處之總移位且自第一量測點減去移位來求出第二分段之相對移位。第一點處之誤差現將引起符號與第一分段中之誤差相反之第二分段中之一對應誤差。因此,兩個分段將以傾於彼此抵消之曲率誤差結束。在一實施例中,最終角之誤差完全不受第一量測點處之誤差影響。As an example, consider the case of multiple bending sensors with one of two measurement points. The curvature of the first segment is obtained by determining the relative displacement at the first measurement point. In this example, the measurement was corrupted by noise and an incorrect low-shift reading was recorded. Then, the relative displacement of the second segment is obtained by taking the total displacement at the second measuring point and subtracting the displacement from the first measuring point. The error at the first point will now cause a corresponding error in one of the second segments whose sign is opposite to the error in the first segment. Therefore, the two segments will end with curvature errors that tend to cancel each other. In one embodiment, the error of the final angle is completely unaffected by the error at the first measurement point.

為展示誤差之敏感度,吾人再訪兩個連續分段之實例。吾人將曲線之起始點界定為:

Figure 02_image055
Figure 02_image057
Figure 02_image059
In order to demonstrate the sensitivity of error, we revisit two consecutive segmented examples. We define the starting point of the curve as:
Figure 02_image055
Figure 02_image057
Figure 02_image059

藉由界定,ΔLr [0]=0且Ls [0]=0。吾人現可計算分段0之結束角:

Figure 02_image061
Figure 02_image063
Figure 02_image065
Figure 02_image067
By definition, ΔL r [0]=0 and L s [0]=0. We can now calculate the end angle of segment 0:
Figure 02_image061
Figure 02_image063
Figure 02_image065
Figure 02_image067

接著,吾人求出分段1之結束角。

Figure 02_image069
Figure 02_image071
Figure 02_image073
Next, we find the end angle of segment 1.
Figure 02_image069
Figure 02_image071
Figure 02_image073

可看出,結束角計算不取決於任何早先量測。此意謂,早先量測之任何誤差不促成各分段之結束角之誤差。It can be seen that the end angle calculation does not depend on any previous measurements. This means that any error in the previous measurement does not contribute to the error in the end angle of each segment.

熟習技術者應注意,上文所提及之結果證明相較於傳統解決方案之優點,傳統解決方案建立於實際上限制可串在一起之編碼器之數目之一系列角編碼器上。實體實施方案 Those familiar with the technology should note that the above-mentioned results prove the advantages of the traditional solution, which is based on a series of angular encoders that actually limit the number of encoders that can be cascaded together. Entity implementation plan

現參考圖9及圖10,提供一多彎曲感測器之一參考條及一滑動條。複數個發射電極沿接收電極之一對應圖案移動。在一實施例中,藉由檢查發射電極與接收電極之間的耦合電容之改變來判定位置。在一實施例中,指叉式電極之一圖案允許吾人藉由比較重疊電極之電容來執行差動量測以判定相對移位。此量測之差動性使其對個各種類型之誤差高度不敏感。除圖9中所展示之電極圖案之外,亦可實施將進一步提供可有助於判定多彎曲感測器之總體移動及形狀之量測之其他電極圖案。9 and 10, a reference bar and a sliding bar of a multi-bend sensor are provided. The plurality of transmitting electrodes move along a pattern corresponding to one of the receiving electrodes. In one embodiment, the position is determined by checking the change of the coupling capacitance between the transmitting electrode and the receiving electrode. In one embodiment, a pattern of interdigitated electrodes allows one to perform a differential measurement to determine the relative displacement by comparing the capacitance of the overlapping electrodes. The differential nature of this measurement makes it highly insensitive to various types of errors. In addition to the electrode patterns shown in FIG. 9, it is also possible to implement other electrode patterns that will further provide measurements that can help determine the overall movement and shape of the multi-bend sensor.

在一實施例中,複數個電極經調適以發射信號,且複數個電極經調適以自發射信號之電極接收信號。在一實施例中,經調適以發射信號之電極及經調適以接收信號之電極可取決於實施方案而切換或交替。在一實施例中,經調適以發射一信號之一電極亦可在一不同時間經調適以接收一信號。使用所接收之信號來判定一條相對於另一條之移動。在一實施例中,可在產生參考條及滑動條時將電極圖案化於標準撓性印刷電路板(PCB)上。可量測透過間隔物之電容,且判定相對位置。In one embodiment, the plurality of electrodes are adapted to transmit signals, and the plurality of electrodes are adapted to receive signals from the electrodes that transmit signals. In an embodiment, the electrodes adapted to transmit signals and the electrodes adapted to receive signals may be switched or alternated depending on the implementation. In one embodiment, an electrode adapted to transmit a signal may also be adapted to receive a signal at a different time. Use the received signal to determine the movement of one piece relative to the other. In one embodiment, the electrodes can be patterned on a standard flexible printed circuit board (PCB) when the reference bar and the sliding bar are generated. It can measure the capacitance through the spacer and determine the relative position.

在一實施例中,發射條具有與接收條上之相同數目個差動電極對對準之複數個等距間隔電極。當兩條平坦時,各發射電極將在一接收對上居中,使得差動電容係零。隨著兩個條相對於彼此移位,發射墊將移動而與接收墊不對準以使差動電容不平衡。在一實施例中,電極經配置以具有大量重疊以最小化偏斜及邊緣場之影響以給出差動電容相對於移位之一線性改變。In one embodiment, the transmitting bar has a plurality of equally spaced electrodes aligned with the same number of differential electrode pairs on the receiving bar. When the two are flat, each transmitting electrode will be centered on a receiving pair, so that the differential capacitance is zero. As the two bars shift relative to each other, the transmitting pad will move out of alignment with the receiving pad to make the differential capacitance unbalanced. In one embodiment, the electrodes are configured to have a large amount of overlap to minimize the effects of skew and fringing fields to give a linear change in differential capacitance with respect to displacement.

在一實施例中,藉由插入複數個聚醯亞胺條來使發射及接收墊保持一固定間距。在一實施例中,移位量與間距之厚度成比例。在一實施例中,厚度係0.5 mm。在一實施例中,使用一單一間隔物。在一實例中,使用複數個間隔物來維持準確間距,同時允許裝置韌曲。In one embodiment, a fixed distance between the transmitting and receiving pads is maintained by inserting a plurality of polyimide strips. In one embodiment, the amount of displacement is proportional to the thickness of the pitch. In one embodiment, the thickness is 0.5 mm. In one embodiment, a single spacer is used. In one example, multiple spacers are used to maintain accurate spacing while allowing the device to be flexible.

在一實施例中,經由一彈性套筒來使條保持壓在一起,同時仍允許其等沿長度緊靠彼此移位。在一實施例中,一夾具穿過條上之對準孔以約束該端上之運動。在一實施例中,金手指接點允許條插入至一控制器板之對置側上之連接器中。在一實施例中,條與一控制器板一體製造。In one embodiment, an elastic sleeve is used to keep the strips pressed together while still allowing them to shift close to each other along the length. In one embodiment, a clamp passes through an alignment hole in the bar to restrict movement on the end. In one embodiment, gold finger contacts allow the strip to be inserted into a connector on the opposite side of a controller board. In one embodiment, the strip is manufactured integrally with a controller board.

圖11a及圖11b分別繪示一平坦位置及一彎曲位置中之一多彎曲感測器。在一實施例中,電極隨著感測器撓曲而移位。圖11c繪示多彎曲感測器處於一平坦位置及一彎曲位置中時之相對移位與差動電容之間的關係。在一實施例中,當多彎曲感測器處於一平坦位置中時,發射電極居中於兩個接收電極之間(即,無移位)且差動電容係零。在一實施例中,當多彎曲感測器在感測器之至少一部分中彎曲時,至少一發射電極與來自一組接收電極之一接收電極重疊多於(若干)其他接收電極(即,移位)以產生一非零差動電容。Fig. 11a and Fig. 11b respectively show a multi-bend sensor in a flat position and a bent position. In one embodiment, the electrode is displaced as the sensor flexes. Fig. 11c shows the relationship between the relative displacement and the differential capacitance of the multi-bend sensor in a flat position and a bent position. In one embodiment, when the multi-bend sensor is in a flat position, the transmitting electrode is centered between the two receiving electrodes (ie, there is no displacement) and the differential capacitance is zero. In an embodiment, when the multi-bend sensor is bent in at least a part of the sensor, at least one transmitting electrode overlaps with one of the receiving electrodes from a set of receiving electrodes more than (several) other receiving electrodes (ie, shifting) Bit) to produce a non-zero differential capacitance.

在一實施例中,使用一單通道24位元差動電容轉數位轉換器來執行電容量測。在一實施例中,可使用一系列超低電容多工器來連續量測沿條之8個點處之移位。在一實施例中,所量測之電容係亞微微法拉級的。In one embodiment, a single-channel 24-bit differential capacitance-to-digital converter is used to perform capacitance measurement. In one embodiment, a series of ultra-low capacitance multiplexers can be used to continuously measure the displacement at 8 points along the strip. In one embodiment, the measured capacitance is of the sub-picofarad level.

在一實施例中,當注意到歸因於各種跡線接近之大量寄生電容時,使用一校準程序。首先,在感測器平放時量測寄生電容之靜態影響。接著,自後續讀數減去此值以求出歸因於電極之差動電容。In one embodiment, when a large amount of parasitic capacitance due to the proximity of various traces is noticed, a calibration procedure is used. First, measure the static effect of parasitic capacitance when the sensor is placed horizontally. Then, subtract this value from subsequent readings to find the differential capacitance attributable to the electrodes.

在一實施例中,電路可每秒約10次進行多彎曲感測器之一全掃掠,同時汲取小於100 mW。評估及結果 In one embodiment, the circuit can perform a full sweep of one of the multi-bend sensors about 10 times per second while drawing less than 100 mW. Evaluation and results

使用一簡單平行板模型來測試一多彎曲感測器之一實施例之效能特性。假定聚醯亞胺之一介電常數3.5且計算移位之一敏感度0.062 pF/mm。A simple parallel plate model is used to test the performance characteristics of an embodiment of a multi-bend sensor. Assume that the polyimide has a dielectric constant of 3.5 and the calculated displacement has a sensitivity of 0.062 pF/mm.

如圖11中所展示,在一實施例中,當感測器平放時,發射電極居中放置於對應接收電極對上。隨著感測器彎曲,接收及發射墊不對準。如圖11c中所展示,在一實施例中,在發射電極延伸超過對應接收電極之前,移位可僅達到+/-3 mm。因此,在此實施例中,感測器可量測之最大彎曲係有限的。如吾人所指出,任何點處之移位僅隨結束角而變化。針對任何分段n:

Figure 02_image075
As shown in FIG. 11, in one embodiment, when the sensor is laid flat, the transmitting electrode is centrally placed on the corresponding receiving electrode pair. As the sensor is bent, the receiving and transmitting pads are not aligned. As shown in Figure 11c, in one embodiment, the displacement may only reach +/-3 mm before the transmitting electrode extends beyond the corresponding receiving electrode. Therefore, in this embodiment, the maximum bend that the sensor can measure is limited. As I pointed out, the displacement at any point only changes with the end angle. For any segment n:
Figure 02_image075

在一實施例中,當一移位係+/-3 mm且一厚度係0.5 mm時,最大結束角係6弧度或約244度。在一實施例中,任何量測點處之結束角不超過6弧度。在一實施例中,為確保良好線性度,任何量測點處之結束角小於6弧度。應注意,在該等實施例中,此約束不限制彎曲之數目。例如,若感測器形成為一正弦曲線,則移位將循環上升及下降以在各循環結束時返回至零。(若振幅足夠高,則可在一些點處超過最大結束角,但此不取決於彎曲之數目。)然而,若感測器形成為一單一圓弧(如同圖11b),則移位不斷線性累積。因此,在一實施例中,若感測器被包繞太緊,則其將超過可允許範圍。In one embodiment, when a displacement is +/-3 mm and a thickness is 0.5 mm, the maximum end angle is 6 radians or about 244 degrees. In one embodiment, the end angle at any measurement point does not exceed 6 radians. In one embodiment, to ensure good linearity, the end angle at any measurement point is less than 6 radians. It should be noted that in these embodiments, this constraint does not limit the number of bends. For example, if the sensor is formed as a sinusoidal curve, the shift will cycle up and down to return to zero at the end of each cycle. (If the amplitude is high enough, the maximum end angle can be exceeded at some points, but this does not depend on the number of bends.) However, if the sensor is formed as a single arc (as in Figure 11b), the displacement will continue to be linear accumulation. Therefore, in one embodiment, if the sensor is wrapped too tightly, it will exceed the allowable range.

在一實施例中,使用其上可放置多彎曲感測器之已知半徑(自40 mm至600 mm)之數個圓弧測試形式來測試裝置之效能。將感測器放置至測試形式上,收集資料,且計算各分段之半徑。(下)表1中展示結果。 參考半徑(mm) 建構半徑(mm) 誤差(%) STD CV 40 50 40.23 49.85 -0.58 0.29 0.22 0.10 -0.39 0.35 60 60.82 -1.37 0.15 -0.12 70 70.76 -1.07 0.03 -0.03 80 79.01 1.25 0.13 0.11 90 89.90 0.15 0.30 1.97 100 99.08 1.11 0.55 0.49 125 126.16 -0.92 0.27 -0.23 150 147.43 1.80 0.42 0.24 175 175.35 -0.17 0.18 -1.03 200 201.58 -0.60 0.35 -0.59 300 285.03 4.98 0.73 0.15 400 380.83 4.79 0.56 0.12 500 404.60 19.07 1.04 0.05 600 453.69 24.38 0.46 0.02 表1:量測結果In one embodiment, several arc test formats with known radii (from 40 mm to 600 mm) on which multiple bending sensors can be placed are used to test the performance of the device. Place the sensor on the test form, collect data, and calculate the radius of each segment. (Bottom) The results are shown in Table 1. Reference radius (mm) Construction radius (mm) error(%) STD CV 40 50 40.23 49.85 -0.58 0.29 0.22 0.10 -0.39 0.35 60 60.82 -1.37 0.15 -0.12 70 70.76 -1.07 0.03 -0.03 80 79.01 1.25 0.13 0.11 90 89.90 0.15 0.30 1.97 100 99.08 1.11 0.55 0.49 125 126.16 -0.92 0.27 -0.23 150 147.43 1.80 0.42 0.24 175 175.35 -0.17 0.18 -1.03 200 201.58 -0.60 0.35 -0.59 300 285.03 4.98 0.73 0.15 400 380.83 4.79 0.56 0.12 500 404.60 19.07 1.04 0.05 600 453.69 24.38 0.46 0.02 Table 1: Measurement results

在一實施例中,一多彎曲感測器準確估計具有低於200 mm之半徑之曲線之半徑。在一實施例中,具有非常大半徑之曲線之一多彎曲感測器誤差幾乎不影響曲線重建之準確度。In one embodiment, a multi-bend sensor accurately estimates the radius of a curve with a radius less than 200 mm. In one embodiment, the multi-bend sensor error of one of the curves with a very large radius hardly affects the accuracy of curve reconstruction.

現參考圖12,展示感測器放置於具有自90 mm至200 mm範圍內之曲率半徑之形式上時之實例性曲線重建及其理想曲線。熟習技術者應注意,在一實施例中,當一量測曲線開始偏離理想時,後續分段有助於將其拉回。校正誤差源 Referring now to FIG. 12, an exemplary curve reconstruction and its ideal curve are shown when the sensor is placed on a form with a radius of curvature ranging from 90 mm to 200 mm. Those skilled in the art should note that, in one embodiment, when a measurement curve starts to deviate from the ideal, the subsequent segmentation helps to pull it back. Correction error source

現參考圖13,展示具有一參考曲線之一多彎曲感測器之測試結果。圖13之上曲線圖展示一重建半徑對參考半徑。實線展示平均建構(即,量測)半徑之內插曲線。虛線展示理想特性曲線。圓點展示量測資料之變動。在一實施例中,變動源於隨機雜訊。圖13之下曲線圖展示量測誤差。Referring now to FIG. 13, the test result of a multi-bend sensor with a reference curve is shown. The upper graph of Figure 13 shows a reconstruction radius versus a reference radius. The solid line shows the interpolation curve of the average constructed (ie, measured) radius. The dashed line shows the ideal characteristic curve. Dots show changes in measurement data. In one embodiment, the variation is due to random noise. The bottom graph in Figure 13 shows the measurement error.

如上文所提及,在一實施例中,一電容性感測系統易受歸因於引起一非零差動電容(即使發射及接收電極呈一平坦定向)之不對稱佈局之寄生電容影響。亦如上文所提及,因為此等係靜態的,所以其可在平坦位置中量測且接著自所有未來量測減去。As mentioned above, in one embodiment, a capacitive sensing system is susceptible to parasitic capacitance due to an asymmetrical layout that causes a non-zero differential capacitance (even if the transmit and receive electrodes are in a flat orientation). As also mentioned above, because these are static, they can be measured in a flat position and then subtracted from all future measurements.

在一實施例中,材料容限變動不影響彎曲量測。在一實施例中,片狀材料通常指定有一+/-5%厚度容限。在一實施例中,電極之大小設定及轉換器之增益可存在小誤差。此等因數可導致一敏感度改變且可使用一單一常數來補償。在一實施例中,可採用迭代測試及校準循環來判定常數之值以達成一已知曲線之一可接受擬合。In one embodiment, the variation of the material tolerance does not affect the bending measurement. In one embodiment, sheet materials are generally specified with a thickness tolerance of +/-5%. In one embodiment, there may be a small error in the size setting of the electrode and the gain of the converter. These factors can cause a sensitivity change and a single constant can be used to compensate. In one embodiment, iterative testing and calibration cycles can be used to determine the value of the constant to achieve an acceptable fit of a known curve.

在一實施例中,邊緣場可為一非線性源,尤其在接近移位限制時。然而,可特徵化及補償此現象。應用及互動技術 空中手勢輸入裝置In one embodiment, the fringe field can be a non-linear source, especially when approaching the displacement limit. However, this phenomenon can be characterized and compensated. Application and interactive technology Air gesture input device

如上文所提及,電阻性彎曲感測器之一常用應用係手套輸入裝置上之手指追蹤。僅具有總體撓曲之一量測,此等提供手指位置之一粗略估計,即使其需要手指結構之一模型及在不同使用者之間變動很大之特定關節位置。本文中所描述之多彎曲感測器可克服此等限制。As mentioned above, one of the common applications of resistive bend sensors is finger tracking on glove input devices. Having only one measure of total deflection, these provide a rough estimate of the finger position, even if it requires a model of the finger structure and specific joint positions that vary greatly from user to user. The multiple bending sensors described herein can overcome these limitations.

圖14繪示附接至一使用者之手腕及食指之一多彎曲感測器,展示呈不同姿勢之所得重建手模型。在一實施例中,即時更新關節位置。在一實施例中,一多彎曲感測器報告其長度上之一8分段形狀模型,其係適合於將變形資料映射至手腕及手指關節位置上之解析度。此提供準確及連續運動追蹤以實現用於導航、選擇、懸停、按壓、滾動等等之使用者介面之空中手勢控制。Figure 14 shows a multi-bend sensor attached to the wrist and index finger of a user, showing the resulting reconstructed hand model in different postures. In one embodiment, the joint positions are updated in real time. In one embodiment, a multi-bend sensor reports an 8-segment shape model over its length, which is suitable for mapping deformation data to the resolution of wrist and finger joint positions. This provides accurate and continuous motion tracking to achieve aerial gesture control of the user interface for navigation, selection, hovering, pressing, scrolling, etc.

在一實施例中,具有約1.0 mm之一薄厚度及約11.0 mm之適當寬度之一多彎曲感測器具有便於併入至最一般大小智慧型手套中之一大小。在一實施例中,讀取約20 cm之長度上之8個點中之感測器資料允許適合於將變形資料映射至手腕及手指關節位置上以進行準確及連續運動追蹤之解析度。在一實施例中,此等性質允許開發一空中手勢輸入裝置以在如遊戲、音樂表演、虛擬及擴增實境環境之各種使用情況中藉由導航、選擇、懸停、按壓、滾動等等來控制使用者介面。在一實施例中,一多彎曲感測器能夠精確、連續及低延時追蹤關節姿勢。 姿勢監測In one embodiment, a multi-bend sensor having a thin thickness of about 1.0 mm and an appropriate width of about 11.0 mm has a size that is convenient to be incorporated into the most general-sized smart glove. In one embodiment, reading sensor data in 8 points on a length of about 20 cm allows a resolution suitable for mapping deformation data to wrist and finger joint positions for accurate and continuous motion tracking. In one embodiment, these properties allow the development of an aerial gesture input device to navigate, select, hover, press, scroll, etc. in various use cases such as games, music performances, virtual and augmented reality environments. To control the user interface. In one embodiment, a multi-bend sensor can track the joint posture accurately, continuously and with low latency. Posture monitoring

在一實施例中,提供人體姿勢之即時監測及骨骼移動之追蹤以向一使用者適當提供回饋。在一實施例中,提供與健康照護要求相關之回饋。在一實施例中,一多彎曲感測器係有助於偵測肢體障礙、復健程序、評估運動表現之長期及規律穿戴關節監測系統之一低成本、輕質、易使用、準確感測器。In one embodiment, real-time monitoring of human posture and skeletal movement tracking are provided to provide appropriate feedback to a user. In one embodiment, feedback related to health care requirements is provided. In one embodiment, a multi-bend sensor is a low-cost, light-weight, easy-to-use, and accurate sensing of long-term and regularly worn joint monitoring systems that help detect physical disorders, rehabilitation procedures, and evaluate sports performance. Device.

在一實施例中,多彎曲感測器用於其中期望詳細理解身體運動之諸多健康應用。在一實施例中,多彎曲感測器可因其精度、低成本、低功率、輕質及細長外型尺寸而易於併入至患者穿戴系統中。In one embodiment, the multi-bend sensor is used in many health applications where a detailed understanding of body movement is desired. In one embodiment, the multi-bend sensor can be easily incorporated into the patient wear system due to its accuracy, low cost, low power, light weight, and slim size.

現參考圖15,展示一多彎曲感測器之多個實施例。在一實施例中,一多彎曲感測器係約0.5 m長、24 mm寬及約1 mm厚。在一實施例中,電極圖案相同於本文中所描述,但展開以覆蓋較長距離。Referring now to Figure 15, multiple embodiments of a multi-bend sensor are shown. In one embodiment, a multi-bend sensor is about 0.5 m long, 24 mm wide, and about 1 mm thick. In one embodiment, the electrode pattern is the same as described herein, but expanded to cover a longer distance.

圖16繪示用於追蹤脊髓移動之一多彎曲感測器之一實施例。在一實施例中,一多彎曲感測器使用黏扣帶來附接至一壓縮衣,使得其追蹤脊椎之運動。在一實施例中,用於骨骼追蹤之一多彎曲感測器可包括至少8個分段。在一實施例中,用於骨骼追蹤之一多彎曲感測器可包括少於8個分段。在一實施例總,一多彎曲感測器係無線的,無需笨重電線或繫繩。 角尺Figure 16 shows an embodiment of a multi-bend sensor used to track spinal cord movement. In one embodiment, a multi-bend sensor is attached to a compression garment using a hook and loop strap so that it tracks the movement of the spine. In an embodiment, a multi-bend sensor for bone tracking may include at least 8 segments. In an embodiment, a multi-bend sensor for bone tracking may include less than 8 segments. In one embodiment, a multi-bend sensor is wireless and does not require bulky wires or tethers. Square

熟習技術者應注意,儘管易於量測直線物體,但諸多美觀設計物體以難以特徵化之自由形式曲線為特徵。在一實施例中,一多彎曲感測器可充當報告自由形式幾何之精確形狀之一簡單角尺。圖17展示用作角尺之一多彎曲感測器。在一實施例中,一多彎曲感測器可與允許即時收集曲線資料之一互動式使用者介面一起使用。在一實施例中,一多彎曲感測器可與允許一使用者點選沿曲線之任何點且收集關於該特定點處之曲率半徑及彎曲度之詳細資訊之一互動式使用者介面一起使用。Those familiar with technology should note that although straight objects are easy to measure, many beautifully designed objects are characterized by free-form curves that are difficult to characterize. In one embodiment, a multi-bend sensor can act as a simple square to report the precise shape of the free-form geometry. Figure 17 shows a multi-bend sensor used as a square ruler. In one embodiment, a multi-bend sensor can be used with an interactive user interface that allows real-time collection of curve data. In one embodiment, a multi-bend sensor can be used with an interactive user interface that allows a user to click any point along a curve and collect detailed information about the radius of curvature and degree of curvature at that specific point .

如上文所提及,吾人周圍存在無方形直角之各種自由形式物體。偵測此等幾何形狀允許使用者與周圍環境互動之較佳方式。本文中所描述之多彎曲感測器可充當允許偵測此等幾何之形狀之一低成本、簡單且多功能角尺。As mentioned above, there are various free-form objects with no square right angles around us. Detecting these geometric shapes is a better way for the user to interact with the surrounding environment. The multi-bend sensor described herein can serve as one of the low-cost, simple and versatile squares that allows the detection of these geometric shapes.

在一實施例中,不使用具有高平坦度之材料。在一實施例中,使用具有+/-5%厚度變動之薄片。在一實施例中,不針對沿間隔物條之厚度變動來校準多彎曲感測器。在一實施例中,針對沿間隔物條之厚度變動來校準多彎曲感測器。In one embodiment, no material with high flatness is used. In one embodiment, a sheet with a thickness variation of +/-5% is used. In one embodiment, the multi-bend sensor is not calibrated for thickness variations along the spacer strip. In one embodiment, the multi-bend sensor is calibrated for the thickness variation along the spacer strip.

應注意,儘管本文中所描述之實施例使用分時多工(例如使各移位量測時間連續),但可使用諸如正交分頻之其他技術。類似地,儘管本文中所描述之實施例使用電容量測,但亦可使用電阻量測。在一實施例中,使用比率電容量測。It should be noted that although the embodiments described herein use time division multiplexing (for example, making each shift measurement time continuous), other techniques such as quadrature frequency division may be used. Similarly, although the embodiments described herein use capacitance measurement, resistance measurement can also be used. In one embodiment, a ratio capacitance measurement is used.

在使用分時多工之實施例中,可自在不同時間取得之資料建構一單一曲線。在一實施例中,即時對準使用分時多工所獲得之資料。在一實施例中,多彎曲感測器使用在所有點處進行真實同時量測之一電路。In an embodiment using time-sharing multiplexing, a single curve can be constructed from data obtained at different times. In one embodiment, real-time alignment uses data obtained by time-sharing multiplexing. In one embodiment, the multi-bend sensor uses one circuit for real simultaneous measurement at all points.

在一實施例中,使用電極屏蔽技術來提高處置容限及附近導體之接近性。In one embodiment, electrode shielding technology is used to improve the handling tolerance and the proximity of nearby conductors.

在一實施例中,一多彎曲感測器可在多個維度上量測曲線。在一實施例中,一多彎曲感測器在一平面內量測彎曲。在一實施例中,一多彎曲感測器在多個平面內量測彎曲。在一實施例中,使用本文中所描述之相對移位技術來特徵化三維彎曲。在一實施例中,一多彎曲感測器可內插或擬合一較高階函數來模型化沿感測器之曲率改變且因此使用實際上更多分段來產生一模型。在一實施例中,一分段之基本模型係一圓弧及一不同函數形式之至少一者。In one embodiment, a multi-bend sensor can measure curves in multiple dimensions. In one embodiment, a multi-bend sensor measures bending in a plane. In one embodiment, a multi-bend sensor measures bending in multiple planes. In one embodiment, the relative displacement technique described herein is used to characterize the three-dimensional curvature. In one embodiment, a multi-bend sensor can interpolate or fit a higher order function to model the curvature changes along the sensor and therefore use actually more segments to generate a model. In one embodiment, the basic model of a segment is at least one of a circular arc and a different functional form.

本發明之一態樣係一種多彎曲感測器,其包括:一參考條,其具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號;一滑動條,其具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該滑動條相對於該參考條移動;及量測電路系統,其經調適以處理由該第一複數個電極接收之信號,其中該等經處理信號提供關於該滑動條相對於該參考條之位置之資訊。One aspect of the present invention is a multi-bend sensor, which includes: a reference bar having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; a sliding bar, It has a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, wherein the slide bar moves relative to the reference bar; and a measurement circuit system that is adapted to process the The signals received by the first plurality of electrodes, wherein the processed signals provide information about the position of the sliding bar relative to the reference bar.

本發明之另一態樣係一種多彎曲感測器,其包括:複數個參考條,其等具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號;複數個滑動條,其等具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該複數個滑動條之至少一者相對於該複數個參考條之至少一者移動;及量測電路系統,其經調適以處理由該第一複數個電極之至少一者接收之信號,其中該等經處理信號提供關於該滑動條相對於該參考條之位置之資訊。Another aspect of the present invention is a multi-bend sensor, which includes: a plurality of reference bars having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; Slide bars, which have a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, wherein at least one of the plurality of slide bars is at least relative to the plurality of reference bars One moves; and a measurement circuit system adapted to process signals received by at least one of the first plurality of electrodes, wherein the processed signals provide information about the position of the slider relative to the reference bar .

本發明之又一態樣係一種用於量測一脊椎彎曲之感測器,其包括經調適以與一脊椎之形狀等形之一外殼,該外殼包括:一參考條,其具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號;一滑動條,其具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該滑動條相對於該參考條移動;及量測電路系統,其經調適以處理由該第一複數個電極接收之信號,其中該等經處理信號提供該滑動條相對於該參考條之移動之指示,其中該量測移動與脊椎形狀相關。Another aspect of the present invention is a sensor for measuring the curvature of a spine, which includes a housing adapted to have a shape equal to the shape of a spine. The housing includes: a reference strip having a first plural number Electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; a slider having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, Wherein the sliding bar moves relative to the reference bar; and a measurement circuit system adapted to process the signals received by the first plurality of electrodes, wherein the processed signals provide the movement of the sliding bar relative to the reference bar Indicates that the measured movement is related to the shape of the spine.

如本文中及尤其是申請專利範圍內所使用,諸如第一及第二之序數術語本身不意欲隱含序列、時間或唯一性,而是用於使主張建構彼此區分。在其中內文指示之一些使用中,此等術語可隱含第一及第二係唯一的。例如,當一事件在一第一時間發生且另一事件在一第二時間發生時,無意隱含第一時間發生於第二時間之前、發生於第二時間之後或與第二時間同時發生。然而,當請求項中存在第二時間係在第一時間之後的進一步限制時,內文將要求將第一時間及第二時間解讀為唯一時間。類似地,當內文如此指示或容許時,序數術語意欲經廣義解釋使得兩個識別請求項建構可具有相同特性或不同特性。因此,例如,在無進一步限制之情況下,一第一頻率及一第二頻率可為相同頻率(例如,第一頻率係10 Mhz且第二頻率係10 Mhz)或可為不同頻率(例如,第一頻率係10 Mhz且第二頻率係11 Mhz)。內文可另外指示(例如)一第一頻率及一第二頻率進一步限於為彼此正交頻率,在該情況中,其等不可能為相同頻率。As used herein and especially within the scope of the patent application, ordinal terms such as first and second are not intended to imply sequence, time, or uniqueness, but are used to distinguish claim constructions from each other. In some of the uses indicated in the context, these terms may imply that the first and second are unique. For example, when an event occurs at a first time and another event occurs at a second time, it is unintentionally implied that the first time occurred before the second time, occurred after the second time, or occurred at the same time as the second time. However, when there is a further restriction that the second time is after the first time in the request item, the content will require that the first time and the second time be interpreted as unique times. Similarly, when the content so indicates or permits, the ordinal term is intended to be interpreted broadly so that the two identification request constructions can have the same characteristics or different characteristics. Therefore, for example, without further limitation, a first frequency and a second frequency may be the same frequency (for example, the first frequency is 10 Mhz and the second frequency is 10 Mhz) or may be different frequencies (for example, The first frequency is 10 Mhz and the second frequency is 11 Mhz). The content may additionally indicate that, for example, a first frequency and a second frequency are further limited to being orthogonal to each other, in which case they cannot be the same frequency.

儘管已參考本發明之一較佳實施例來特別展示及描述本發明,但熟習技術者應瞭解,可在不背離本發明之精神及範疇之情況下對本文之形式及細節作出各種改變。Although the present invention has been specifically shown and described with reference to a preferred embodiment of the present invention, those skilled in the art should understand that various changes can be made to the form and details of this document without departing from the spirit and scope of the present invention.

10:多彎曲感測器 12:滑動條 14:參考條 16:遠端/端部分/端點 18:間隔物 20:電極 22:保持器 24:電路系統 30:對應點 31:對應點 71:起始點 72:起始角 73:結束點 74:結束角 75:中心 76:曲率半徑 77:角範圍 L:長度 r:半徑 t:厚度10: Multi-bend sensor 12: Slider 14: Reference strip 16: far end/end part/end point 18: spacer 20: Electrode 22: retainer 24: circuit system 30: Corresponding point 31: Corresponding point 71: starting point 72: starting angle 73: End point 74: End angle 75: Center 76: radius of curvature 77: Angle range L: length r: radius t: thickness

將自附圖中所繪示之實施例之以下更特定描述明白本發明之上述及其他目的、特徵及優點,在附圖中,元件符號係指所有各種視圖中之相同部分。圖式未必按比例繪製,而是將重點放在繪示揭示實施例之原理上。The above and other objects, features, and advantages of the present invention will be understood from the following more specific description of the embodiments illustrated in the drawings. In the drawings, reference numerals refer to the same parts in all the various views. The drawings are not necessarily drawn to scale, but focus on illustrating the principles of the disclosed embodiments.

圖1展示一多彎曲感測器之一側視圖。Figure 1 shows a side view of a multi-bend sensor.

圖2展示一感測器條之一仰視圖。Figure 2 shows a bottom view of a sensor strip.

圖3係滑動及參考感測器條之一示意圖。Figure 3 is a schematic diagram of a sliding and reference sensor bar.

圖4係繪示包繞一間隔物之一參考條的一圖式。FIG. 4 is a diagram showing a reference strip surrounding a spacer.

圖5係繪示包繞一間隔物之一滑動條的一圖式。Fig. 5 is a diagram showing a sliding bar wrapping around a spacer.

圖6係由一滑動條及一參考條形成之一感測器條之另一視圖。Figure 6 is another view of a sensor bar formed by a sliding bar and a reference bar.

圖7係繪示一分段之計算的一圖式。Fig. 7 is a diagram showing the calculation of a segment.

圖8係繪示一分段之計算的一圖式。Figure 8 is a diagram showing the calculation of a segment.

圖9展示一多彎曲感測器之一滑動條、一參考條及一間隔物條之一俯視圖。Figure 9 shows a top view of a sliding bar, a reference bar and a spacer bar of a multi-bend sensor.

圖10展示圖9之多彎曲感測器之一側視圖。Fig. 10 shows a side view of the multi-bend sensor of Fig. 9;

圖11a繪示一平坦位置中之一多彎曲感測器。Figure 11a shows a multi-bend sensor in a flat position.

圖11b繪示一彎曲位置中之一多彎曲感測器。Figure 11b illustrates one of multiple bending sensors in a bending position.

圖11c繪示一多彎曲感測器處於一平坦位置及一彎曲位置中時之代表性電極位置。Figure 11c shows representative electrode positions when a multi-bend sensor is in a flat position and a bent position.

圖12繪示來自具有已知半徑之曲線之實例性多彎曲感測器資料。Figure 12 shows exemplary multi-bend sensor data from a curve with a known radius.

圖13繪示具有一參考曲線之一多彎曲感測器之測試結果。Figure 13 shows the test result of a multi-bend sensor with a reference curve.

圖14繪示附接至一使用者之手腕及食指之一多彎曲感測器。Figure 14 shows a multi-bend sensor attached to the wrist and index finger of a user.

圖15繪示一多彎曲感測器之多個實施例。Figure 15 shows multiple embodiments of a multi-bend sensor.

圖16繪示用於追蹤脊髓移動之一多彎曲感測器之一實施例。Figure 16 shows an embodiment of a multi-bend sensor used to track spinal cord movement.

圖17繪示用作一角尺之一多彎曲感測器。Figure 17 shows a multi-bend sensor used as a square.

10:多彎曲感測器 10: Multi-bend sensor

12:滑動條 12: Slider

14:參考條 14: Reference strip

16:遠端/端部分/端點 16: far end/end part/end point

18:間隔物 18: spacer

22:保持器 22: retainer

24:電路系統 24: circuit system

Claims (17)

一種多彎曲感測器,其包括: 一參考條,其具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號; 一滑動條,其具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該滑動條相對於該參考條移動;及 量測電路系統,其經調適以處理由該第一複數個電極接收之信號,其中該等經處理信號提供關於該滑動條相對於該參考條之位置之資訊。A multi-bend sensor, which includes: A reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; A sliding bar having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, wherein the sliding bar moves relative to the reference bar; and A measurement circuit system adapted to process the signals received by the first plurality of electrodes, wherein the processed signals provide information about the position of the sliding bar relative to the reference bar. 如請求項1之多彎曲感測器,其中該量測電路系統處理該等信號以判定一電容。Such as the multiple bending sensor of claim 1, wherein the measurement circuit system processes the signals to determine a capacitance. 如請求項1之多彎曲感測器,其中該量測電路系統處理該等信號以判定一電阻。Such as the multiple bending sensor of claim 1, wherein the measurement circuit system processes the signals to determine a resistance. 如請求項1之多彎曲感測器,其中該參考條及該滑動條在一端處彼此固定。Such as the multiple bending sensor of claim 1, wherein the reference bar and the sliding bar are fixed to each other at one end. 如請求項1之多彎曲感測器,其中該參考條及該滑動條在一端處彼此固定。Such as the multiple bending sensor of claim 1, wherein the reference bar and the sliding bar are fixed to each other at one end. 如請求項1之多彎曲感測器,其中該第一複數個電極之至少兩者自該第二複數個電極之一對應電極接收一信號。The multiple bending sensor of claim 1, wherein at least two of the first plurality of electrodes receive a signal from a corresponding electrode of the second plurality of electrodes. 如請求項1之多彎曲感測器,其中累積量測誤差可忽略。Such as the multi-bend sensor of claim 1, in which the cumulative measurement error can be ignored. 一種多彎曲感測器,其包括: 複數個參考條,其等具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號; 複數個滑動條,其等具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該複數個滑動條之至少一者相對於該複數個參考條之至少一者移動;及 量測電路系統,其經調適以處理由該第一複數個電極之至少一者接收之信號,其中該等經處理信號提供關於該滑動條相對於該參考條之位置之資訊。A multi-bend sensor, which includes: A plurality of reference bars, each of which has a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; A plurality of slide bars, which have a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, wherein at least one of the plurality of slide bars is relative to the plurality of reference bars At least one moves; and A measurement circuit system adapted to process signals received by at least one of the first plurality of electrodes, wherein the processed signals provide information about the position of the sliding bar relative to the reference bar. 如請求項8之多彎曲感測器,其中該量測電路系統處理該等信號以判定一電容。Such as the multiple bending sensor of claim 8, wherein the measurement circuit system processes the signals to determine a capacitance. 如請求項8之多彎曲感測器,其中該量測電路系統處理該等信號以判定一電阻。Such as the multiple bending sensor of claim 8, wherein the measurement circuit system processes the signals to determine a resistance. 如請求項8之多彎曲感測器,其中由該等經處理信號提供之該資訊描述一平面內之至少一曲線。Such as the multiple bending sensor of claim 8, wherein the information provided by the processed signals describes at least one curve in a plane. 如請求項8之多彎曲感測器,其中由該等經處理信號提供之該資訊描述複數個平面內之至少一曲線。Such as the multiple bending sensor of claim 8, wherein the information provided by the processed signals describes at least one curve in a plurality of planes. 一種用於量測一脊椎彎曲之感測器,其包括: 一外殼,其經調適以與一脊椎之形狀等形,該外殼包括: 一參考條,其具有第一複數個電極,其中該第一複數個電極之各者經調適以接收一信號; 一滑動條,其具有第二複數個電極,其中該第二複數個電極之各者經調適以發射至少一信號,其中該滑動條相對於該參考條移動;及 量測電路系統,其經調適以處理由該第一複數個電極接收之信號,其中該等經處理信號提供該滑動條相對於該參考條之移動之指示,其中該量測移動與脊椎形狀相關。A sensor for measuring a curvature of the spine, comprising: A shell, which has been adapted to have a shape equal to the shape of a spine, and the shell includes: A reference strip having a first plurality of electrodes, wherein each of the first plurality of electrodes is adapted to receive a signal; A sliding bar having a second plurality of electrodes, wherein each of the second plurality of electrodes is adapted to emit at least one signal, wherein the sliding bar moves relative to the reference bar; and A measurement circuit system adapted to process the signals received by the first plurality of electrodes, wherein the processed signals provide an indication of the movement of the slider relative to the reference bar, wherein the measurement movement is related to the shape of the spine . 如請求項13之感測器,其中該量測電路系統處理該等信號以判定一電容。Such as the sensor of claim 13, wherein the measurement circuit system processes the signals to determine a capacitance. 如請求項13之感測器,其中該量測電路系統處理該等信號以判定一電阻。Such as the sensor of claim 13, wherein the measurement circuit system processes the signals to determine a resistance. 如請求項13之感測器,其中該量測移動係沿一個方向。Such as the sensor of claim 13, wherein the measurement movement is along one direction. 如請求項13之感測器,其中該量測移動係沿複數個方向。Such as the sensor of claim 13, wherein the measurement movement is along a plurality of directions.
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