CN107890350A - A kind of wearable motion sensor, sensing circuit and method for testing motion - Google Patents
A kind of wearable motion sensor, sensing circuit and method for testing motion Download PDFInfo
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Abstract
A kind of wearable motion sensor, sensing circuit and method for testing motion; it is related to man-machine interaction sensor; provided with silicon rubber Dielectric film layers; silicon rubber Dielectric film layers the upper side and lower side is respectively equipped with flexible electrode layer and lower flexible electrode layer; insulating protective layer and lower insulating protective layer are respectively equipped with the downside of the upside of upper flexible electrode layer and lower flexible electrode layer; Top electrode pin and bottom electrode pin are respectively equipped with upper flexible electrode layer and lower flexible electrode layer, upper insulating protective layer and lower insulating protective layer are silicon rubber insulation protective layer.Sensing circuit is included with sensor body, current integration module, filtration module, signal processing module, decoupling processing module, power module of voltage regulation, switch module and display module；Detection method includes signal detection, processing, signal decoupling output in real time.The present invention have it is simple in construction, sensitivity, the high cost of precision are low, and real-time is good, wearing comfort, can accurate measurement human action the advantages that.
Description
Technical field
The present invention relates to man-machine interaction sensor field, says it is a kind of simple in construction, sensitivity, high cost of precision in detail
Low, real-time is good, wearing comfort, is capable of the wearable motion sensor based on silicon rubber, the biography of accurate measurement human action
Inductive circuit and method for testing motion.
Background technology
Virtual reality（Virtual Reality, VR）Technology is widely used in electronic product in recent years, turns into global range
Interior hot topic.Only in June, 2016 China VR products sales volume increases by 27.8 times just close to 550,000, compared with the January, VR productions
Increase in the year of product market scale and be expected to will be up to 500%.Human body joint motion detection sensor is the pass needed for interactive VR systems
Key elements, it can catch action and the attitude information of human body, pass information to virtual reality system, realize man-machine interaction.
By data glove, user can be efficiently completed human-computer interaction naturally.Set in addition, human action is caught in Entertainment, animation
The fields such as meter, operation teaching, Sign Language Recognition, visualization scientific research, robot control, military information, athletic training also have
Huge application prospect.
Current human action monitoring means, processing system and inertial measurement system mainly are tracked using visual pattern,
The former limits expensive and illumination limitation range of movement；It is low that the latter dresses uncomfortable and accuracy of detection.As existing wrist is transported
Dynamic to catch in equipment, shooting seizure system is only limitted to interior, and Inertial Measurement Unit has the shortcomings that drift, and rigid goniometer is worn
Wear uncomfortable.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, there is provided and a kind of simple in construction, sensitivity, precision are high,
Cost is low, and real-time is good, wearing comfort, is capable of wearable motion sensor and its user of accurate measurement human action
Method.Do not limited etc. and required by illumination,
Technical scheme is used by the present invention solves above-mentioned the deficiencies in the prior art：
A kind of wearable motion sensor, it is characterised in that：Provided with silicon rubber Dielectric film layers, on silicon rubber Dielectric film layers
Side and downside are respectively equipped with flexible electrode layer and lower flexible electrode layer, the upside of upper flexible electrode layer and lower flexible electrode layer
Downside is respectively equipped with insulating protective layer and lower insulating protective layer, is respectively equipped with upper flexible electrode layer and lower flexible electrode layer
Electrode pin and bottom electrode pin, upper insulating protective layer and lower insulating protective layer are silicon rubber insulation protective layer；It is by following materials
Matter and method are prepared：
The first step, prepare silicon rubber dielectric film plate：Sacrifice layer is prepared, by polyacrylic acid and volatile solvent in mass ratio 1:3~
1:5 weigh reagent, are positioned in capsule, then put it into mixer, mix deaeration and stir, obtain sacrifice layer slurries；Configure silicon rubber
Glue, silicon rubber stoste and diluent in mass ratio 1:1~3:2 are positioned in capsule, then put it into mixer, mix deaeration
Stir, obtain silastic liquid；Sacrifice layer is applied, sacrifice layer slurries are coated on thermoplastic polyester substrate using spreader, after being painted with,
It is dried Deng sacrifice layer, it is colored to be presented seven for thermoplastic polyester substrate after exsiccation；Silastic-layer is applied, silastic liquid is applied using spreader
Overlay on the thermoplastic polyester substrate for having covered sacrifice layer, hold up film metacoxal plate with steel plate, cover acrylic cover；Heating is solid
Change, deliver to heater box be heating and curing, silicon rubber dielectric film plate it is stand-by；
Second step, prepare silicon rubber insulation protective layer plate：Sacrifice layer slurries are prepared, quality is pressed by polyacrylic acid and volatile solvent
Than 1:3~1:5, which weigh reagent, is positioned in capsule, adds the water for accounting for gross mass 2% ~ 6%, puts it into mixer, mixes deaeration
Stir, obtain sacrifice layer slurries；Silastic liquid is configured, raw material band is wound on capsule, silicon rubber stoste and diluent are in mass ratio
1:1~3:2 are positioned in capsule, then put it into mixer, mix deaeration and stir, obtain silastic liquid；Sacrifice layer is applied, will be sacrificed
Layer slurries, coated on thermoplastic polyester substrate, after being painted with, wait sacrifice layer to be dried, plasticity polyester substrate after exsiccation using spreader
It is colored to be presented seven；Silastic-layer is applied, silastic liquid has been covered to the thermoplastic polyester substrate of sacrifice layer using spreader
On, film metacoxal plate is held up with steel plate, covers acrylic cover；It is heating and curing, delivers to heater box heating, obtains silicon rubber insulation protection
Laminate is stand-by；
3rd step, prepare flexible electrode：Carbon material and volatile solvent mass ratio 1:17~1:After 22 mixing, steel ball point is added
Carbon dust is dissipated, stirring deaeration is mixed in mixer, obtains electrode slurries；After the completion of stirring, capsule is taken out, is added in electrode slurries
It is 1 with carbon material mass ratio:9~1:11 silicon rubber stoste, it is 1 to add with silicon rubber stock solution quality ratio:1~3:2 dilution
After agent, stirring deaeration is mixed in mixer, it is stand-by to obtain flexible electrode；
4th step, the silicon rubber dielectric film plate of preparation and silicon rubber insulation protective layer plate cut into silicon rubber dielectric film plate
Unit and silicon rubber insulation protective layer plate unit, an electrode pin groove is cut on silicon rubber insulation protective layer plate unit,
Electrode is cut out in the middle part of thermoplastic polyester plate and smears notch；Electrode smearing notch is dimensioned slightly smaller than silicon rubber dielectric film Slab element
Size, its shape is identical with silicon rubber dielectric film Slab element shape, and electrode smears notch and silicon rubber dielectric film plate list
During first face, it is 2 ~ 10 millimeters that electrode, which smears surrounding of the surrounding of notch away from silicon rubber dielectric film Slab element,.
5th step, the silastic-layer side face electrode of silicon rubber dielectric film Slab element are covered in thermoplasticity with smearing notch
On polyester sheet, flexible electrode is smeared in the silastic-layer side that the silicon rubber dielectric film Slab element in notch is smeared in electrode, flexible
Silicon rubber dielectric film Slab element is separated with thermoplastic polyester plate after the completion of electrode coating, is heating and curing, obtains silicon rubber dielectric
Thin-film electro pole plate；
6th step, plasma treatment, put silicon rubber dielectric film battery lead plate, silicon rubber insulation protective layer plate unit into plasma
Machine carries out plasma treatment；
7th step, by the silastic-layer of the silicon rubber insulation protective layer plate unit after plasma treatment and silicon rubber dielectric film electricity
The relative fitting of the flexible electrode of pole plate is simultaneously adhesively fixed, and obtains sensor main structure base board；
8th step, the silicon rubber dielectric film battery lead plate one of sensor main structure base board is placed in boiling water, dissolves sacrifice layer,
Thermoplastic polyester substrate is removed；
9th step, the operation for repeating above-mentioned 5th step, the 6th step, the 7th step, sensor main body plate is made；
Tenth step, the both sides of sensor main body plate are respectively placed in boiling water, dissolve sacrifice layer, thermoplastic polyester substrate is gone
Remove, obtain sensor main body；
In 11st step, the electrode pin groove for being positioned over electrode pin, appropriate flexible electrode is taken to be applied in electrode pin groove,
It is put into heater box to be heating and curing, finally wire is welded on electrode pin, completes to make.
The silicon rubber stoste used in heretofore described silicon rubber Dielectric film layers is LSR4305 or MED4901；Silicon
The silicon rubber stoste used in rubber-covered protective layer is LSR4305 or Sylgard186；The silicon rubber used in flexible electrode layer
Collagen solution is MED4901.
Heretofore described volatile solvent is isopropanol；Diluent is isooctane or OS-20；Silicon rubber dielectric film
Thickness degree preferred scope：70~200μm；Insulating protective layer thickness preferred scope：200~400μm.
A kind of sensing circuit for including above-mentioned wearable motion sensor, including with sensor body, current integration mould
Block, filtration module, signal processing module, decoupling processing module, power module of voltage regulation, switch module and display module；Sensor
A piece wire of body is connected with the output end of switch module, another wire is connected with the in-phase input end of operational amplifier；
Current integration module output end is connected with filtration module input, filtration module output end and signal processing module input phase
Even, signal processing module output end is connected with decoupling processing module input, decouples processing module output end and display module is defeated
Enter end to be connected, power module of voltage regulation respectively with current integration module, switch module, decoupling processing module and signal processing module phase
Even（Powered for it）, the input of switch module is connected with the pulse signal output end of signal processing module（Pulse width modulation
（PWM）Cyclical signal）, the output end of switch module and the pulse signal input terminal of current integration module（VD）, sensor sheet
A piece wire of body is connected.
Current integration module includes operational amplifier and reference capacitance, the output end and in-phase input end of operational amplifier it
Between, output end and inverting input be connected to measurement resistance R2With measurement resistance R4, reference capacitance CrefIt is added in homophase input
Between end and ground, reference capacitance CrefBoth ends measurement resistance R in parallel1, measurement is connected between inverting input and ground
Resistance R3.DES is the sensor after simplifying in figure；Piece wire of sensor（One electrode pin）With the output end of switch module
It is connected, another wire（Another electrode pin）It is connected with the in-phase input end of operational amplifier.It is variable that sensor is considered as two
Resistance and a variable capacitance series connection, circuit is designed using Current integrating method.
A kind of detection method using above-mentioned sensing circuit to motion, it is characterised in that comprise the following steps：
A, when each motion in joint to be detected occurs, abarticular skin stretching change maximum attaches and fixes one
Sensor；
B, the motion analog signal output of sensor detection joint angles change is to filtration module, and filtration module is to moving electric signal
Carry out（100-500Hz 200Hz）LPF, the motion electric signal after LPF will after signal processing module A/D conversions
The Signal averaging in former and later two cycles is averaged（Electromagnetic noise when sensing circuit is not filtered in the presence of serious 50Hz is done
Disturb, sensor is easily disturbed by outer signals, running computer such as surrounding can also influence, and the registration of sensor is very unstable,
The Signal averaging in former and later two cycles is averaged, filters out the stability that noise improves circuit registration, when reality measures, phase
Waveform influence of the electromagnetic noise interference in adjacent two cycles to moving electric signal is opposite）, obtain（After digital filtering）Motion digital
Signal；
C, motion digital signal input decoupling processing module（Realize the processor stm32f103, stm32f407 of above-mentioned function）,
Motion digital signal is substituted into formula by decoupling processing module：Joint motions to be detected are calculated in a motion
Angle on direction；
Regulation：Detect jointjThe individual direction of motion（The free degree）Movement angle, detection joint is thejNumber direction of motion（Freely
Degree）On movement angle be,Represent the during motioniThe change of number sensor voltage registration, symbolRepresent thejNumber fortune
Dynamic direction（The free degree）On movement angle andiThe change of number sensor voltage registration corresponding to sensor（Single-degree-of-freedom is transported
When dynamic）Between slope；Its form for being write as matrix has：
It is abbreviated as
Wrist joints sporting angle is calculated by the registration of sensor, i.e.,
D, data signal is exported in real time by display module.
The present invention monitors first calibration matrix before joint motions in first time：Joint motions are to the limit position of each direction of motion
Put, be recorded injNumber direction of motion（The free degree）On motion wheniThe change of number sensor voltage registration, and combine people
Each direction of motion in body joint（The free degree）Movement angle。ThejNumber direction of motion（The free degree）On motion when,iNumber sensing
The change of device voltage readingsWith each direction of motion of human synovial（The free degree）Movement angleRatio is。
Joint motions are monitored with measurement using sensor of the invention, sensor circuit and method for testing motion, is examined
Slowdown monitoring circuit linearity errorSize be 0.0014, hysteresis errorSize be 0.006, repeatability error size is
0.0081, sensitivity 0.0082V/mm, dynamic response time is about 200ms；The present invention has to human body joint motion without bright
It is aobvious to hinder, simple in construction, sensitivity, the advantages that precision is high, cost is low, and real-time is good；The present invention can be in wearer's proprioception
In the case of not yet disappearing, exercise data is objectively monitored in time, real-time is good, and the display of wearer motion and data is almost same
Shi Fasheng.
Brief description of the drawings
Fig. 1 is the structural representation of sensor in the present invention.
Fig. 2 is the electrical block diagram of current integration module and sensor in the present invention.
Fig. 3 is the structural representation of sensing circuit in the present invention.
Sensor is attached to the structural representation in wrist when Fig. 4 is present invention detection wrist joints sporting.
Fig. 5 is the movement angle curve moved using the wearable motion sensor senses wrist joint palmar flexion of the present invention with making
The comparison diagram of the movement angle curve moved with reference instrument detection wrist joint palmar flexion.
Fig. 6 is the movement angle curve using the wearable motion sensor senses wrist joint dorsiflex campaign of the present invention with making
With the comparison diagram of the movement angle curve of reference instrument detection wrist joint dorsiflex campaign.
Embodiment
Wearable motion sensor as shown in Figure 1, provided with silicon rubber Dielectric film layers 6, silicon rubber Dielectric film layers 6
The upper side and lower side is respectively equipped with flexible electrode layer 3 and lower flexible electrode layer 4, the upside of upper flexible electrode layer 3 and lower flexible electrical
The downside of pole layer 4 is respectively equipped with insulating protective layer 1 and lower insulating protective layer 5, upper flexible electrode layer 3 and lower flexible electrode layer 4
On be respectively equipped with Top electrode pin 2 and bottom electrode pin 7, upper insulating protective layer 1 and lower insulating protective layer 5 are that silicon rubber insulation is protected
Sheath；Described wearable motion sensor is prepared by following materials and method：
The first step, prepare silicon rubber dielectric film plate：Sacrifice layer is prepared, by polyacrylic acid and volatile solvent in mass ratio 1:3~
1:5 weigh reagent, be positioned in capsule and seal, then put it into mixer, mix deaeration stir, sacrifice layer slurries；Configuration
Silastic liquid, silicon rubber stoste and diluent in mass ratio 1:1~3:2 are positioned in capsule and seal, then put it into mixer,
Deaeration is mixed to stir, obtain silastic liquid；Silicon rubber stoste is LSR4305 or MED4901, and obtained silastic liquid has good
Mobility, and the defects of being not in shrinkage cavity after solidifying, silicon rubber dielectric film tensile strength reaches 3.4MPa tearing strengths
10N/mm.Sacrifice layer is applied, sacrifice layer slurries after being painted with, are waited into sacrifice layer using spreader coated on thermoplastic polyester substrate
It is dried, it is colored to be presented seven for thermoplastic polyester substrate after exsiccation；Silastic-layer is applied, clears up after spreader and silastic liquid is used into coating
Device has been covered on the thermoplastic polyester substrate of sacrifice layer, is held up film metacoxal plate with steel plate, is covered acrylic cover；Heating
Solidification, deliver to heater box be heating and curing, heat after the completion of cover release liners, it is stand-by to obtain silicon rubber dielectric film plate；
Second step, prepare silicon rubber insulation protective layer (upper insulating protective layer and lower insulating protective layer) plate：Sacrifice layer slurries are prepared,
By polyacrylic acid and volatile solvent in mass ratio 1:3~1:5, which weigh reagent, is positioned in capsule, adds and accounts for gross mass 2% ~ 6%
Water, put it into mixer, mix deaeration stir, sacrifice layer slurries；Silastic liquid is configured, raw material are wound on capsule
Band, silicon rubber stoste and diluent in mass ratio 1:1~3:2 are positioned in capsule, then put it into mixer, mix deaeration and stir
Mix, obtain silastic liquid；Silicon rubber stoste is LSR4305 or Sylgard186；Sacrifice layer is applied, sacrifice layer slurries are used into spreader
Coated on thermoplastic polyester substrate, after being painted with, sacrifice layer is waited to be dried, it is colored to be presented seven for plasticity polyester substrate after exsiccation；Apply silicon
Rubber layer, silastic liquid is covered on the thermoplastic polyester substrate of sacrifice layer using spreader after clearing up spreader,
Film metacoxal plate is held up with steel plate, covers acrylic cover；It is heating and curing, delivers to heater box heating, covered after the completion of heating release
Paper, it is stand-by to obtain silicon rubber insulation protective layer plate；
3rd step, prepare flexible electrode：Carbon material and volatile solvent mass ratio 1:17~1:After 22 mixing, steel ball point is added
Carbon dust is dissipated, stirring deaeration is mixed in mixer, obtains electrode slurries；After the completion of stirring, capsule is taken out, is added in electrode slurries
It is 1 with carbon material mass ratio:9~1:11 silicon rubber stoste, it is 1 to add with silicon rubber stock solution quality ratio:1~3:2 dilution
After agent, stirring deaeration is mixed in mixer, obtains flexible electrode（Liquid）It is stand-by；Silicon rubber stoste is MED4901；The flexible electrode
Smearing has excellent electric conductivity after drying, high resiliency, and bonding is firm, and tensile strength reaches 2MPa.
4th step, by the silicon rubber dielectric film plate of preparation and silicon rubber insulation protective layer plate with laser cutting machine by required
Size and dimension cut into the consistent silicon rubber dielectric film Slab element of size and silicon rubber insulation protective layer plate unit, in silicon
Rubber-covered protective layer plate unit（Or the silicon rubber insulation protective layer of silicon rubber insulation protective layer plate unit）In upper cutting one
The electrode pin groove of lower insertion, the electrode for cutting out up/down perforation with laser cutting machine in the middle part of thermoplastic polyester plate smear notch；
Electrode smears the size for being dimensioned slightly smaller than silicon rubber dielectric film Slab element of notch, its shape and silicon rubber dielectric film plate list
First shape is identical, and when electrode smears notch with silicon rubber dielectric film Slab element face, electrode smears the surrounding of notch away from silicon rubber
The surrounding of glue dielectric film Slab element is 2 ~ 10 millimeters, preferably 4 ~ 6 millimeters.
5th step, the silastic-layer side face electrode for the silicon rubber dielectric film Slab element for throwing off release liners are with smearing notch
It is covered on thermoplastic polyester plate, the silastic-layer side smearing that the silicon rubber dielectric film Slab element in notch is smeared in electrode is soft
Property electrode, flexible electrode coating after the completion of silicon rubber dielectric film Slab element is separated with thermoplastic polyester plate, be heating and curing, shape
Into flexible electrode layer, silicon rubber dielectric film battery lead plate is obtained；
6th step, plasma treatment, by silicon rubber dielectric film battery lead plate, throw off the silicon rubber insulation protective layer plate lists of release liners
Member puts plasma machine into and carries out plasma treatment；
7th step, by the silastic-layer of the silicon rubber insulation protective layer plate unit after plasma treatment and silicon rubber dielectric film electricity
The flexible electrode of pole plate（Layer）Relative fitting is simultaneously adhesively fixed, and obtains sensor main structure base board.Silicon rubber after plasma treatment
The silastic-layer of insulation protection laminate and the flexible electrode of silicon rubber dielectric film battery lead plate（Layer）The silastic-layer bonding in outside
It is more firm.After the completion of bonding, it is placed on weight and pushes a period of time, it is ensured that be firmly bonded；
8th step, the silicon rubber dielectric film battery lead plate one of sensor main structure base board is placed in boiling water, dissolves sacrifice layer,
Thermoplastic polyester substrate is removed；
9th step, the sensor main structure base board of the 8th step removal thermoplastic polyester substrate is considered as to silicon rubber Jie for throwing off release liners
Conductive film Slab element, repeat the operation of above-mentioned 5th step, the 6th step, the 7th step, be made among be silicon rubber Dielectric film layers, silicon
Elastomeric dielectric film layer two（Outside）Side is flexible electrode layer, is the sensor of silicon rubber insulation protective layer plate on the outside of flexible electrode layer
Main board；
Tenth step, the both sides of sensor main body plate are respectively placed in boiling water, dissolve sacrifice layer, thermoplastic polyester substrate is gone
Remove, obtain sensor main body；
11st step, electrode pin is positioned in the electrode pin groove of silicon rubber insulation protective layer, electrode pin and silicon rubber
Flexible electrode layer contact electrical connection in the electrode pin groove of insulating protective layer, takes appropriate flexible electrode to be applied to electrode with tweezers
In pin groove, it is fixedly connected with the flexible electrode layer of silicon rubber dielectric film, heater box is put into and is heating and curing, will finally lead
Wire bonding is completed to make on electrode pin.
The volatile solvent used in the present embodiment is isopropanol；Diluent is isooctane or OS-20；Silicon rubber dielectric is thin
Thicknesses of layers preferred scope：70~200μm；Insulating protective layer thickness preferred scope：200~400μm.
The sensing circuit for including above-mentioned wearable motion sensor as shown in Figure 2, including with sensor mechanism body
02（Wearable motion sensor i.e. obtained above）, current integration module 01, filtration module 04, signal processing module 06,
Decouple processing module 07, power module of voltage regulation 05, switch module 03 and display module 08；A piece wire of sensor body（One
Individual electrode pin）It is connected with the output end of switch module, another wire（Another electrode pin）It is same with operational amplifier
Phase input is connected；Current integration module output end is connected with filtration module input, filtration module output end and signal transacting
Module input is connected, and signal processing module output end is connected with decoupling processing module input, decouples processing module output end
Be connected with display module input, power module of voltage regulation respectively with current integration module, switch module, decoupling processing module and letter
Number processing module is connected（Powered for it）, the input of switch module is connected with the pulse signal output end of signal processing module
（Pulse width modulation（PWM）Cyclical signal）, the output end of switch module and the pulse signal input terminal of current integration module
（VD）, sensor body a wire（One electrode pin）It is connected.
From figure 3, it can be seen that current integration module includes single supply power supply operational amplifier and reference capacitance, computing are put
Between the output end and in-phase input end of big device, output end and inverting input be connected to measurement resistance R2With measurement resistance
R4, reference capacitance CrefIt is added between in-phase input end and ground, reference capacitance CrefBoth ends measurement resistance R in parallel1, anti-
It is mutually defeated such as enter end and between be connected with measurement resistance R3.DES is the sensor after simplifying in figure；Piece wire of sensor（One
Individual electrode pin）It is connected with the output end of switch module, another wire（Another electrode pin）It is same with operational amplifier
Phase input is connected.Sensor is considered as two variable resistors and a variable capacitance series connection, and circuit is designed using Current integrating method
A kind of detection method using above-mentioned sensing circuit to motion, it is characterised in that comprise the following steps：
A, in joint to be detected（To be detected）Each motion（Single dof mobility）Abarticular skin stretching, extension becomes during generation
Change maximum to attach and fix a sensor；Sensor is fixed on skin using two kinds of adhesive tapes, one kind is that have necessarily
The kinesiology tape cloth of elasticity, by the fixation of sensor both ends and skin, another kind is medical adhesive tape, by kinesiology tape cloth and skin
Strengthen fixing.
B, the motion analog signal output of sensor detection joint angles change is to filtration module, and filtration module is to motion electricity
Signal carries out 200Hz LPF, the motion electric signal after LPF after signal processing module A/D conversions will before and after two
The Signal averaging in individual cycle is averaged, and obtains motion digital signal；
There is serious 50Hz electromagnetic noise interference in the signal that sensor detects when being filtered, make sensor easily by the external world
The interference of signal, running computer such as surrounding can also influence, and the registration of sensor is very unstable, and the signal in former and later two cycles is folded
Add and average, filter out the stability that noise improves circuit registration, when reality measures, the electromagnetic noise in two neighboring cycle is done
The waveform influence disturbed to moving electric signal is opposite.
C, motion digital signal is substituted into formula by motion digital signal input decoupling processing module, decoupling processing module：Joint to be detected is calculated in a direction of motion（The free degree）On angle；
Regulation：Detect jointjThe individual direction of motion（The free degree）Movement angle, detection joint is thejThe individual direction of motion（Freely
Degree）On movement angle be,Represent the during motioniThe change of number sensor voltage registration, symbolRepresent thejNumber motion
Direction（The free degree）On movement angle andiThe change of number sensor voltage registration corresponding to sensor（Single dof mobility
When）Between slope；Its form for being write as matrix has：
It is abbreviated as
Articulation angle is calculated by the registration of sensor, i.e.,
Wherein,i、jPositive integer.For matrixInverse matrix.This equation is the decoupling equation of joint motions.Although above formula
Derived in the case of compound motion, but be still applied to single independent simple motion.
D, data signal is exported in real time by display module.
Signal processing module and decoupling processing module are realized using processor stm32f103 and/or stm32f407.
The present invention monitors first calibration matrix before joint motions in first time：Joint motions are to each direction of motion（Freely
Degree）Extreme position, record thejThe individual direction of motion（The free degree）On motion wheniThe change of individual sensor voltage registration
And combine each direction of motion of human synovial（The free degree） 。ThejThe individual direction of motion（The free degree）On motion wheniIndividual sensor
The change of voltage readingsWith each direction of motion of human synovial（The free degree）Ratio is。
During work, signal processing module sends pulse signal, and pulse signal carries out power amplification through switch module, to sensing
Device provides pulse signal, and provides input signal to current integration module, and integral result is analog signal, and filtration module is increase
The antijamming capability of circuit carries out LPF to analog signal, and filter result is analog signal, and analog signal is by signal
Manage module and carry out analog-to-digital conversion（AD）Digital filtering is carried out after conversion, digital filtering uses time-domain filtering method, is specially：By before
Signal averaging corresponding to two adjacent cycles afterwards, arithmetic average computing is carried out, 50Hz noise is filtered substantially, registration is steady
It is fixed.
The data signal of signal processing module output is after decoupling processing module decoupling processing, the joint angle that will be calculated
Degree output display on display module.Lithium battery power supply in normal operating conditions, output voltage can with the loss of electricity and
Reduce, power module of voltage regulation makes voltages keep constant to voltage modulated in this process.
Joint motions are monitored with measurement using sensor of the invention, sensor circuit and method for testing motion, is examined
Slowdown monitoring circuit linearity errorSize be 0.0014, hysteresis errorSize be 0.006, repeatability error size is
0.0081, sensitivity 0.0082V/mm, dynamic response time is about 200ms；The present invention has to human body joint motion without bright
It is aobvious to hinder, simple in construction, sensitivity, the advantages that precision is high, cost is low, and real-time is good；The present invention can be in wearer's proprioception
In the case of not yet disappearing, exercise data is objectively monitored in time, real-time is good, and the display of wearer motion and data is almost same
Shi Fasheng.
Using the present invention detection wrist portion move when, its sensor be attached to the structure in wrist as shown in figure 4,
Wherein 8 be chi bend measurement sensor, 9 be rotation before measurement sensor, 10 be supination measurement sensor, 11 be dorsiflex measurement pass
Sensor, 12 are palmar flexion measurement sensor.
In Wrist-sport measurement process, single dof mobility can influence another motion, exist motion measurement coupling, it is necessary to
Decoupling.Linear relationship be present between the voltage readings change of each sensor and any simple motion angle of wrist joint.Often
The change of individual sensor voltage registration is the change sum of the voltage readings caused by multiple simple motions.
As shown in figure 4, detection wrist joint5The individual direction of motion（The free degree）Movement angle,jRepresent 1-5,1 represents wrist pass
Save palmar flexion to move, 2 represent wrist joint dorsiflex campaign, and 3, which represent wrist joint chi, bends motion, and 4 represent motion before wrist joint rotation, and 5 represent
Wrist joint supination；Using 5 sensors,i1-5 is represented, 1 is measurement wrist joint palmar flexion motion sensor, and 2 close for measurement wrist
Dorsiflex motion sensor is saved, 3 bend motion sensor for measurement wrist joint chi, and 4 be motion sensor before measurement wrist joint rotation, and 5 are
Measure wrist joint supination sensor.
For carpal each simple motion, there are 5 articulation angles and the pass of sensor voltage registration change
System, i.e.,：
In joint motions measurement process, single dof mobility can influence another motion, motion measurement coupling be present, it is necessary to solve
Coupling.Linear relationship be present between the voltage readings change of each sensor and any simple motion angle in joint.It is each to pass
The change of sensor voltage readings is the change sum of the voltage readings caused by multiple simple motions.By taking number sensor as an example, then
Have：
Also it is writeable to turn into：
The linear relationship demarcated between each sensor voltage registration of wrist joint and 5 movement angles, that is, obtain articulation angle
Slope between changing with sensor voltage registration。
Due to there is 5 sensors, the form for being write as matrix has：
Above formula can be abbreviated as
Wrist joints sporting angle is calculated by the registration of sensor, i.e.,
WhereinFor matrixInverse matrix.This equation is the decoupling equation of wrist joints sporting.
The present invention will be used to measure the data obtained to wrist joint palmar flexion and dorsiflex campaign with using reference instrument to wrist
Joint palmar flexion and dorsiflex campaign measure the data obtained contrast and understand that the two maximum error of measuring is 2.35 ° respectively,
1.07 °, as shown in Figure 5, Figure 6, wherein ordinate changes the data and curves comparison diagram that it is detected for joint flexion angle, abscissa
For the run duration in joint.
Sensor of the invention has good measurement accuracy, and lightweight has good pliability and elasticity, has larger
Tension type variable, do not influence normal activity, and it is simple in construction, manufacturing cost is low.Its correlated performance and conventional motion-sensing
Device contrast is as follows：
| Sensor | The linearity | Draftability | Repeatability | Hysteresis |
| Peace moistens general flexible fabric strain transducer | 5% | 60% | 5% | 5% |
| The wearable motion sensor of the present invention | 0.2% | 200% | 0.81% | 0.6% |
Claims (6)
- A kind of 1. wearable motion sensor, it is characterised in that：Provided with silicon rubber Dielectric film layers, silicon rubber Dielectric film layers The upper side and lower side is respectively equipped with flexible electrode layer and lower flexible electrode layer, the upside of upper flexible electrode layer and lower flexible electrode layer Downside be respectively equipped with insulating protective layer and lower insulating protective layer, be respectively equipped with upper flexible electrode layer and lower flexible electrode layer Top electrode pin and bottom electrode pin, upper insulating protective layer and lower insulating protective layer are silicon rubber insulation protective layer；It is by following Material and method are prepared：The first step, prepare silicon rubber dielectric film plate：Sacrifice layer is prepared, by polyacrylic acid and volatile solvent in mass ratio 1:3~ 1:5 weigh reagent, are positioned in capsule, then put it into mixer, mix deaeration and stir, obtain sacrifice layer slurries；Configure silicon rubber Glue, silicon rubber stoste and diluent in mass ratio 1:1~3:2 are positioned in capsule, then put it into mixer, mix deaeration Stir, obtain silastic liquid；Sacrifice layer is applied, sacrifice layer slurries are coated on thermoplastic polyester substrate using spreader, after being painted with, It is dried Deng sacrifice layer, it is colored to be presented seven for thermoplastic polyester substrate after exsiccation；Silastic-layer is applied, silastic liquid is applied using spreader Overlay on the thermoplastic polyester substrate for having covered sacrifice layer, hold up film metacoxal plate with steel plate, cover acrylic cover；Heating is solid Change, deliver to heater box be heating and curing, silicon rubber dielectric film plate it is stand-by；Second step, prepare silicon rubber insulation protective layer plate：Sacrifice layer slurries are prepared, quality is pressed by polyacrylic acid and volatile solvent Than 1:3~1:5, which weigh reagent, is positioned in capsule, adds the water for accounting for gross mass 2% ~ 6%, puts it into mixer, mixes deaeration Stir, obtain sacrifice layer slurries；Silastic liquid is configured, raw material band is wound on capsule, silicon rubber stoste and diluent are in mass ratio 1:1~3:2 are positioned in capsule, then put it into mixer, mix deaeration and stir, obtain silastic liquid；Sacrifice layer is applied, will be sacrificed Layer slurries, coated on thermoplastic polyester substrate, after being painted with, wait sacrifice layer to be dried, plasticity polyester substrate after exsiccation using spreader It is colored to be presented seven；Silastic-layer is applied, silastic liquid has been covered to the thermoplastic polyester substrate of sacrifice layer using spreader On, film metacoxal plate is held up with steel plate, covers acrylic cover；It is heating and curing, delivers to heater box heating, obtains silicon rubber insulation protection Laminate is stand-by；3rd step, prepare flexible electrode：Carbon material and volatile solvent mass ratio 1:17~1:After 22 mixing, steel ball point is added Carbon dust is dissipated, stirring deaeration is mixed in mixer, obtains electrode slurries；After the completion of stirring, capsule is taken out, is added in electrode slurries It is 1 with carbon material mass ratio:9~1:11 silicon rubber stoste, it is 1 to add with silicon rubber stock solution quality ratio:1~3:2 dilution After agent, stirring deaeration is mixed in mixer, it is stand-by to obtain flexible electrode；4th step, the silicon rubber dielectric film plate of preparation and silicon rubber insulation protective layer plate cut into silicon rubber dielectric film plate Unit and silicon rubber insulation protective layer plate unit, an electrode pin groove is cut on silicon rubber insulation protective layer plate unit, Electrode is cut out in the middle part of thermoplastic polyester plate and smears notch；5th step, the silastic-layer side face electrode of silicon rubber dielectric film Slab element are covered in thermoplastic polyester with smearing notch On plate, flexible electrode, flexible electrode are smeared in the silastic-layer side that the silicon rubber dielectric film Slab element in notch is smeared in electrode Silicon rubber dielectric film Slab element is separated with thermoplastic polyester plate after the completion of coating, is heating and curing, obtains silicon rubber dielectric film Battery lead plate；6th step, plasma treatment, put silicon rubber dielectric film battery lead plate, silicon rubber insulation protective layer plate unit into plasma Machine carries out plasma treatment；7th step, by the silastic-layer of the silicon rubber insulation protective layer plate unit after plasma treatment and silicon rubber dielectric film electricity The relative fitting of the flexible electrode of pole plate is simultaneously adhesively fixed, and obtains sensor main structure base board；8th step, the silicon rubber dielectric film battery lead plate one of sensor main structure base board is placed in boiling water, dissolves sacrifice layer, Thermoplastic polyester substrate is removed；9th step, the operation for repeating above-mentioned 5th step, the 6th step, the 7th step, sensor main body plate is made；Tenth step, the both sides of sensor main body plate are respectively placed in boiling water, dissolve sacrifice layer, thermoplastic polyester substrate is gone Remove, obtain sensor main body；In 11st step, the electrode pin groove for being positioned over electrode pin, appropriate flexible electrode is taken to be applied in electrode pin groove, It is put into heater box to be heating and curing, finally wire is welded on electrode pin, completes to make.
- 2. wearable motion sensor according to claim 1, it is characterised in that：Described silicon rubber Dielectric film layers The middle silicon rubber stoste used is LSR4305 or MED4901；The silicon rubber stoste used in silicon rubber insulation protective layer is LSR4305 or Sylgard186；The silicon rubber stoste used in flexible electrode layer is MED4901.
- 3. wearable motion sensor according to claim 1 or 2, it is characterised in that：Described volatile solvent is Isopropanol；Diluent is isooctane or OS-20；Silicon rubber Dielectric film layers thickness preferred scope：70-200μm；Insulating protective layer Thickness preferred scope：200-400μm.
- A kind of 4. sensing circuit for including above-mentioned wearable motion sensor, it is characterised in that：Including with sensor body, electricity Flow integration module, filtration module, signal processing module, decoupling processing module, power module of voltage regulation, switch module and display mould Block；A piece wire of sensor body is connected with the output end of switch module, another wire and operational amplifier it is same mutually defeated Enter end to be connected；Current integration module output end is connected with filtration module input, filtration module output end and signal processing module Input is connected, and signal processing module output end is connected with decoupling processing module input, and decoupling processing module output end is with showing Show that module input is connected, power module of voltage regulation respectively with current integration module, switch module, decoupling processing module and signal at Reason module is connected, and the input of switch module is connected with the pulse signal output end of signal processing module, the output of switch module End is connected with the pulse signal input terminal of current integration module, a wire of sensor body.
- 5. sensing circuit according to claim 4, it is characterised in that：Current integration module includes operational amplifier and reference Electric capacity, between the output end and in-phase input end of operational amplifier, output end and inverting input be connected to measurement resistance R2With measurement resistance R4, reference capacitance CrefIt is added between in-phase input end and ground, reference capacitance CrefA both ends measurement in parallel Resistance R1, measurement resistance R is connected between inverting input and ground3。
- 6. a kind of detection method using above-mentioned sensing circuit to motion, it is characterised in that comprise the following steps：A, when each motion in joint to be detected occurs, abarticular skin stretching change maximum attaches and fixes one Sensor；B, the motion analog signal output of sensor detection joint angles change is to filtration module, and filtration module is to moving electric signal LPF is carried out, the motion electric signal after LPF is after signal processing module A/D conversions by the letter in former and later two cycles Number superposition is averaged, and obtains motion digital signal；C, motion digital signal is substituted into formula by motion digital signal input decoupling processing module, decoupling processing module：Calculate the angle of a direction of motion of joint motions to be detected；Regulation：Detect jointjThe movement angle of the individual direction of motion, detection joint is thejMovement angle in number direction of motion is,No. the is represented during motioniThe change of sensor voltage registration, symbolRepresent thejMovement angle in number direction of motion WithiSlope between number change of sensor voltage registration corresponding to sensor；Its form for being write as matrix has：It is abbreviated asWrist joints sporting angle is calculated by the registration of sensor, i.e.,D, data signal is exported in real time by display module.
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| WO2020103343A1 (en) * | 2018-11-22 | 2020-05-28 | Southern University Of Science And Technology | A wearable garment sensor and preparation method and application thereof |
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| CN112230769A (en) * | 2020-10-10 | 2021-01-15 | 哈尔滨工业大学（威海） | Data glove based on flexible capacitive sensor and joint movement angle measuring method |
| CN113124746A (en) * | 2021-04-20 | 2021-07-16 | 哈尔滨工业大学（威海） | Wearable flexible capacitive sensor based on redundant sensor and self-calibration method |
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| CN113456024A (en) * | 2021-06-01 | 2021-10-01 | 北京大学口腔医学院 | Method and device for directly measuring joint surface pressure in real time |
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