WO2020181902A1 - High-precision sensor and application in force-measuring insole - Google Patents

High-precision sensor and application in force-measuring insole Download PDF

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Publication number
WO2020181902A1
WO2020181902A1 PCT/CN2020/000046 CN2020000046W WO2020181902A1 WO 2020181902 A1 WO2020181902 A1 WO 2020181902A1 CN 2020000046 W CN2020000046 W CN 2020000046W WO 2020181902 A1 WO2020181902 A1 WO 2020181902A1
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WIPO (PCT)
Prior art keywords
sensor
insole
screen structure
capacitive
resistive
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PCT/CN2020/000046
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French (fr)
Chinese (zh)
Inventor
郑庆生
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郑庆生
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Publication of WO2020181902A1 publication Critical patent/WO2020181902A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B17/00—Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A61B5/6807—Footwear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
    • G01L1/146—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors for measuring force distributions, e.g. using force arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • the invention belongs to the field of high-precision flexible pressure sensors, and is also applied to a force measuring insole.
  • the invention combines the elastic conductor with mature resistive screen and capacitive screen technology to become a high-precision, low-cost, and highly mature technical solution.
  • Patent No.: CN201410451649.5 discloses a flexible tactile composite sensor array based on pressure-sensitive conductive rubber in Zhejiang University. It adopts Inastomer conductive rubber produced by Japan's INABA company, which has excellent piezoresistive characteristics, hysteresis performance, and linearity. It has good pressure sensitivity to slight vibration and can detect high frequency and low amplitude slip signals.
  • the above-mentioned invention has limited effect on the distribution of plane force measurement, the plane resolution accuracy of the lattice structure is not good, the maturity and practicability of the technology are not strong, and the cost is very high.
  • Conductive rubber The basic principle of conductive rubber used for sensor force measurement is: conductive rubber under a certain range of pressure, the resistance of conductive rubber will gradually decrease with the increase of pressure, conductive rubber with good performance can be insulated under pressure become conductive. At present, the pressure-sensitive conductive rubber added with conductive particles has attracted wide attention. Conductive rubber has good flexibility and wear resistance. The resistance value of this material changes with the change of stress within a certain stress range, and it has good piezoresistive characteristics.
  • the conductive rubber force-sensitive sensor is a new type of sensor designed by using the piezoresistive characteristics of conductive materials. However, there are relatively few products made of the force sensitivity of conductive rubber, especially sensors made of conductive rubber. Conductive rubber force sensitive sensors can also be used as tactile sensors.
  • pressure-sensitive conductive rubber In addition to the characteristics of high sensitivity and integration and intelligence, pressure-sensitive conductive rubber also has the characteristics of flexibility, high elasticity, corrosion resistance, relatively simple processing, and large area. Therefore, it has become another major category in resistance strain sensitive materials, and it occupies an irreplaceable important position. Pressure-sensitive conductive rubber is one of the suitable sensitive materials for making tactile sensors. Pressure-sensitive conductive rubber can not only manufacture pressure-sensitive sensors such as tactile and prosthetic hand sensors for various robots, but also various force-sensitive sensors, various contact surface switch components, switch panels of high-density word processors, and computer symbols. Image transfer device, and use as a filter device.
  • Resistive touch screen is a very widely used sensor. It is basically a structure of thin film and glass or plexiglass. The adjacent surfaces of the thin film and glass are coated with ITO (Nano Indium Tin Metal Oxide) coating. ITO has Very good conductivity and transparency. When touch operation, the ITO of the lower layer of the film will contact the ITO of the upper layer of the glass, and the corresponding electric signal will be transmitted through the sensor, and then sent to the processor through the conversion circuit, which is converted into the X and Y values on the screen through calculation, and the point is completed. The selected action is displayed on the screen.
  • the working principle of the resistive touch screen is mainly through the principle of pressure sensing to realize the operation and control of the screen content.
  • the screen body of this touch screen is a multi-layer composite film that matches the surface of the display.
  • the first layer is glass or plexiglass.
  • the bottom layer, the second layer is the barrier layer, and the third layer is the surface layer of multi-element resin.
  • the surface is also coated with a transparent conductive layer, and the surface is covered with a hardened, smooth and scratch-resistant plastic layer.
  • the conductive layer and glass layer sensor on the surface of the multi-element resin is separated by many tiny interlayers.
  • the current passes through the surface layer. When the surface layer is touched lightly, it touches the bottom layer.
  • the controller reads out the corresponding current and current from the four corners at the same time. Calculate the distance of the finger position.
  • This touch screen uses two highly transparent conductive layers to form the touch screen, and the distance between the two layers is only 2.5 microns.
  • the two conductive layers that are normally insulated from each other make a contact at the touch point.
  • one conductive layer is connected to a 5V uniform voltage field in the Y axis direction, the voltage of the detection layer changes from zero to zero.
  • Non-zero after the controller detects this is turned on, it performs A/D conversion and compares the voltage value obtained with 5V to obtain the Y-axis coordinate of the touch point. Similarly, the X-axis coordinate can be obtained. It is the most basic principle common to all resistive technology touch screens.
  • Capacitive touch screen technology uses the current induction of the human body to work.
  • the capacitive touch screen is a four-layer composite glass screen.
  • the inner surface and the interlayer of the glass screen are each coated with a layer of ITO.
  • the outermost layer is a thin layer of silica glass protective layer.
  • the interlayer ITO coating is used as the working surface, and the four corners are led out Four electrodes, the inner ITO is a shielding layer to ensure a good working environment.
  • a coupling capacitor is formed between the user and the touch screen surface.
  • the capacitor is a direct conductor, so the finger draws a small current from the contact point.
  • Capacitive touch screens are divided into surface capacitive touch screens based on surface capacitive touch technology (Surface Capacitive Touch, SCT for short) and projected capacitive touch screens based on projected capacitive touch technology (Projected Capacitive Touch, PCT for short).
  • the projected capacitive touch screen Since the projected capacitive touch screen has better performance and longer service life than the surface capacitive touch screen, the projected capacitive touch screen is widely used in life, and the working principle of the projected capacitive touch screen is specific This is: first, through effective electronic control, the capacitive touch screen is divided into a number of sensor units equivalent to the size of the pixel, and then a very thin monorail wire is used for alignment. Finally, these monorail wires are connected to the control board. Since each wire has its own fixed electromagnetic oscillation frequency, touching the glass surface of the capacitive touch screen will cause the wire oscillation frequency to change. At the same time, the change of the wire oscillation frequency is detected by the control board, and finally through the control board and The core program determines the touch point. Compared with the surface capacitive touch screen, because the sensing unit of the projected capacitive touch screen based on PCT technology is embedded, it has the advantages of good stability, not easy to be interfered, and not easy to damage.
  • a high-precision pressure tactile sensor which is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure. It is characterized in that the elastic conductive body is located in the barrier layer within the resistive screen structure; the elastic conductive body is located in the touch of the capacitive screen structure body side.
  • the combination of an elastic conductor and a resistive screen structure The elastic conductor is located in the barrier layer within the resistive screen structure. It replaces the insulating transparent glue dots in the existing barrier with elastic conductors.
  • the insulating transparent glue dot is used to separate the two conductive layers and maintain insulation. When subjected to external pressure, the two conductive layers are conducted at the pressure position.
  • the elastic conductor has the function of normal insulation and conduction after pressure, which is very suitable to replace the transparent glue dot. Resistive screens are easier to manufacture because they do not require transparency, the process and materials are less difficult, and the application of force measurement is wider.
  • the combination of elastic conductor and resistive screen structure borrows from the authorized Chinese invention patent (patent number: CN201210505083.0), named: a push-type capacitive screen.
  • the invention discloses a push-type capacitive screen for pressure touch sensing of insulators, which includes a capacitive screen body, the front and back of the capacitive screen body correspond to the touch side and the non-touch side of the capacitive screen body, respectively;
  • the touch side of the capacitive screen body is provided with a flexible ITO conductive film, a flexible support is evenly distributed between the flexible ITO conductive film and the capacitive screen body, and an ITO conductive layer is provided on the non-touch side;
  • the flexible ITO conductive film leads An electrode is connected to the positive electrode of a power supply; the ITO conductive layer leads an electrode to be connected to the negative electrode of the power supply.
  • the pressing type capacitive screen of the present invention is matched with a flexible ITO conductive film, an ITO conductive layer and a flexible support on the capacitive screen body, and can be used to detect the touch of an insulator like plastic. It is characterized in that: the front and back of the capacitive screen body correspond to the touch side and the non-touch side of the capacitive screen body, respectively; the touch side of the capacitive screen body is provided with a flexible ITO conductive film, and the flexible ITO conductive film and the capacitor Flexible supports are evenly distributed between the screen bodies, the non-touch side is provided with an ITO conductive layer; the flexible ITO conductive film leads out an electrode to connect to the positive electrode of a power supply; the ITO conductive layer leads out an electrode to connect to the power supply The negative electrode.
  • the detection principle of the pressure sensitivity of this invention is similar to that of a resistive screen.
  • the flexible support is equivalent to the insulating transparent glue dot of the resistive screen, which stretches two conductive layers, and the conductivity is detected after being compressed by force.
  • the flexible support is replaced with an elastic conductive body, just like replacing the insulating transparent glue point of the resistive screen barrier layer, which can achieve the same effect.
  • the invention can copy other features of the invention.
  • a high-precision sensor which is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure. It is characterized in that the front and back sides of the capacitive screen structure correspond to the touch side and the non-contact side of the capacitive screen structure.
  • Touch side; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, an elastic conductor is evenly distributed between the flexible ITO conductive film and the capacitive screen structure body, and the non-touch side is provided with an ITO conductive layer;
  • the flexible ITO conductive film leads to an electrode to connect to the positive electrode of a power source;
  • the ITO conductive layer leads to an electrode to connect to the negative electrode of the power source.
  • the solution of the present invention can also be based on the ITO conductive film design solution invented by the push-type capacitive screen, replacing the ITO conductive film with a material with the same electrical performance or better electrical performance, such as a metal film or a metal flake, to increase the sensitivity of touch control.
  • a material with the same electrical performance or better electrical performance such as a metal film or a metal flake
  • a protective layer to the material with the same electrical performance or better electrical performance, such as a metal film or a metal foil, which is equivalent to increasing the physical strength of the ITO conductive film.
  • the solution of the present invention can also add an encapsulation protection layer on the outside of the ITO conductive film and/or the metal film or the metal sheet, and is characterized in that the flexible ITO conductive film is packaged with the elastic conductor and the capacitive screen structure.
  • ITO conductive film packaging can use the packaging method of resistive screen. It can reduce the influence of external temperature and humidity on the accuracy and working status of the capacitive screen, and make the sensor more stable.
  • the invention can also eliminate the need for a conductive structure (that is, the flexible ITO conductive film of the patented push-type capacitive screen and the connected power supply), that is, a passive solution.
  • a high-precision sensor is composed of an elastic conductive body, a resistive screen structure and/or a capacitive screen structure, and is characterized in that the elastic conductive body is attached to the touch side of the capacitive screen structure. It can also be expressed as a feature that: the touch side of the capacitive screen structure body is provided with an elastic conductive body. Or, it is characterized in that: the touch side of the capacitive screen structure is provided with an elastic conductive body.
  • the elastic conductor of the present invention may be conductive rubber, which can directly detect the pressure touch of conductive objects, and is also suitable for the inspection of human touch, and the touch is still effective. Just like laying a layer of conductive body on the capacitive screen, it can still be operated by finger touch.
  • the conductive rubber sheet also has conductive properties after being pressed, but it is limited to the pressed part. The improvement of the invention makes the structure simpler and the application range wider.
  • the invention can also change the patented solution of the press type capacitive screen.
  • a high-precision sensor is composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure.
  • the feature is that the flexible ITO conductive film leads out an electrode to ground. It also conforms to the touch principle of the capacitive screen. It is possible to use the human body to conduct electricity, and it is also possible to use the grounding to conduct electricity.
  • the structure is also simplified and the application range is wider.
  • the complete expression is: a high-precision sensor, composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure, and is characterized in that: the capacitive screen structure, the front and back of the body correspond to the capacitive screen structure body Touch side and non-touch side; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, an elastic conductor is evenly distributed between the flexible ITO conductive film and the capacitive screen structure body, and the non-touch side is provided with ITO conductive layer; the flexible ITO conductive film leads to an electrode to connect to the ground.
  • the present invention can also change the above-mentioned patented solution and express it as: a high-precision sensor composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure, and is characterized by: the capacitive screen structure, the front surface of the body and The back side respectively correspond to the touch side and non-touch side of the capacitive screen structure body; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, and elastic conductive films are evenly distributed between the flexible ITO conductive film and the capacitive screen structure body.
  • the non-touch side is provided with an ITO conductive layer; the flexible ITO conductive film leads out an electrode to connect to the negative electrode of a power source; the ITO conductive layer leads out an electrode to connect to the positive electrode of the power source.
  • the capacitive screen structure of the present invention includes the existing surface-type capacitive touch screens and projected capacitive screens (including self-capacitance screens and mutual-capacitance screens), as well as solutions or products with the same principle and/or structure.
  • the resistive screen structure of the present invention includes existing four-wire, five-wire, seven-wire or eight-wire, and also includes solutions or products with the same principle and/or structure.
  • the sensor of the present invention is characterized in that the elastic conductive body is a sheet with an area larger than 1 square millimeter or 4 square millimeters, or 25 square millimeters or 81 square millimeters.
  • the area requirement of the elastic conductor is the characteristic of the surface force pressure tactile sensor, and the area is too small and meaningless. If it is less than 1 square millimeter, it is better to use spot force to solve it, which loses the significance of progress. Below 4 square millimeters is also similar to point measuring force, and it returns to the idea of single point array. Only 25 square millimeters have practical value, and only more than 100 square millimeters have practical value.
  • the thickness of the conductive rubber depends on the force and the performance of the conductive rubber.
  • the sensor of the present invention is characterized in that the sheet-shaped elastic conductor can be conductive rubber, can be a plane with uniform thickness, or can have different thicknesses. It can be used to detect the plane touch of a specific shape and has the effect of an electronic skin.
  • the sensor of the present invention is characterized in that: the resistive screen structure and/or the capacitive screen structure can be curved, cylindrical, or irregular. This can increase the use range of the planar sensor and increase the stereo sensing circumference. Resistive screens and capacitive screens are also very simple as curved surfaces.
  • the conductive rubber of the present invention can also be expressed as pressure-sensitive conductive rubber.
  • Pressure-sensitive conductive rubber is a sensitive material with resistance strain effect, also known as pressure-sensitive conductive rubber and piezoelectric rubber. When the external force does not work, the resistance value of the pressure-sensitive conductive rubber is higher or insulated; the resistance value is significantly reduced after pressure is applied, showing the properties of conductivity.
  • the components of the pressure-sensitive conductive rubber can be EPDM, nitrile rubber, chloroprene rubber, silicone rubber, etc., which are mixed with conductive particles and then vulcanized.
  • the conductive particles can be carbon black, metal particles, graphite, fibrous conductive fillers, etc.
  • pressure-sensitive conductive rubber In addition to the characteristics of high sensitivity and integration and intelligence, pressure-sensitive conductive rubber also has the characteristics of flexibility, high elasticity, corrosion resistance, relatively simple processing, and large area. Therefore, it has become another major category in resistance strain sensitive materials, and it occupies an irreplaceable important position. Pressure-sensitive conductive rubber is one of the suitable sensitive materials for making tactile sensors. Pressure-sensitive conductive rubber can not only manufacture pressure-sensitive sensors such as tactile and prosthetic hand sensors for various robots, but also various force-sensitive sensors, various contact surface switch components, switch panels of high-density word processors, and computer symbols. Image transfer device, and use as a filter device.
  • Pressure sensitive conductive rubber is a mature market product, with manufacturers in Japan and Taiwan
  • the sensor of the present invention is characterized in that the elastic conductive body is anisotropic rubber.
  • Anisotropic conductive rubber is a kind of conductive rubber composed of insulating elastomer and conductive particles. By improving the production process, the conductive particles in the rubber are arranged along the z-axis to form a conductive tunnel. After being subjected to external pressure, the insulation in the xy plane direction and the conduction in the z vertical direction are realized, and each conductive tunnel can be used as an independent probe and Test object contact, which can be used for high-density reliability testing.
  • Anisotropic rubber can increase the position accuracy of the sensor of the present invention.
  • the anisotropic pressure conductive rubber currently on the market is mainly manufactured by Japanese companies.
  • the sensor of the present invention selects an AD converter and/or component with a high sampling frequency, which is characterized in that the sampling frequency of the resistive screen and/or capacitive AD converter and/or component is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz, 1MHz.
  • the displacement detection of moving objects with high sampling frequency can achieve higher accuracy.
  • the main manufacturers of high-speed AD are AD company, Maxim company and TI company (that is, BB company).
  • the sensor of the present invention is characterized in that it is installed on the insole and/or the inner sole and/or the midsole and/or the ground part of the outsole of the shoe.
  • the wires from the resistive screen structure and/or capacitive screen structure are extended, connected to A/D modules or components, and then connected to a computer and/or mobile phone via a USB interface to read data, and can also store, analyze, and send data. It can be slightly changed according to the existing handwriting tablet product scheme, and those skilled in the art can directly customize it.
  • the pressure-sensitive handwriting board with resistive screen structure technology is the seventh generation and eighth generation handwriting board of General Hanxiang. It can be realized by replacing the insulating glue dots of the insulating layer with a conductive rubber layer in the compartment.
  • the handwriting board material is plexiglass. , Can withstand the gravity and slight movement of the human body.
  • Capacitive screen structure inductive handwriting board the brand has UGEE Youji S-300 inductance product series, you can write with the belly of your finger, it proves to be a capacitive screen structure, the plane size is reduced, and a layer of conductive rubber is added to the handwriting layer, which is insulated when there is no pressure State, conductivity can collect data after pressure, and can capture foot pressure characteristics. In the barefoot state, it can be used directly because the human body can conduct electricity, which is the same as the principle of finger touch. It can also moisten the sole skin of the feet and increase conductivity.
  • a conductive metal sheet on the conductive rubber layer, such as tin foil, aluminum foil, etc., and then install electrodes or leads on the conductive rubber layer, and then lead the leads, stick them to the calves and fix them with tape, so that the point induction is better.
  • a press-type capacitive screen structure can also be used to capture the pressure sensitivity more accurately.
  • the capacitive screen material can be replaced with a slightly larger material, or the thickness can be increased at the same time, or the thickness can be doubled, and a protective layer can be added at the same time.
  • Installed on the insole and/or midsole has the same effect as installed on the insole. It can better protect the sensor, the position is more fixed, and the data is more accurate.
  • the sensor is installed on the ground of the outsole, which can compare the data in the shoe to evaluate the influence of the shoe on the foot and human movement, and the shoe is the evaluation object. It is also possible to evaluate the impact of the ground on sports, and the venue as the evaluation object.
  • the sensor of the present invention is characterized in that: a resistive screen structure sensor and a capacitive screen structure sensor are used in superposition, and the resistive screen structure is on top.
  • the principle and accuracy of the two are different. Mutual verification and data calibration make the data more reliable.
  • the upper layer is preferably a resistive screen because it is softer and has less influence on the lower layer. It is especially suitable for installing on insoles and/or insoles and/or midsoles to measure the mechanical state of the soles in the shoes.
  • the sensor of the present invention is characterized in that the thickness of the conductive rubber is less than 5 mm, 3 mm, 1.5 mm or 0.5 mm.
  • the thickness of the conductive rubber is related to the response speed of electrical signals. The thinner the conductive rubber, the more conducive to the collection of high-frequency data. It is especially suitable for products installed on the insole and/or insole and/or midsole and/or outsole of shoes.
  • the present invention is a combined invention, and there is no insufficient disclosure.
  • Conductive rubber can be purchased publicly, or self-made and commissioned according to the existing literature.
  • the capacitive screen structure of the resistive screen structure is more extensive, and the computer writing board of the capacitive screen structure of the resistive screen structure is also one of the applications of the sensor.
  • the present invention is based on the existing resistive screen structure and/or capacitive screen structure and technology.
  • Existing products and solutions and software support are all suitable for the present invention, and the data acquisition circuit and software can be selected from existing products and disclosed technical solutions.
  • the screen body is only structurally improved to be suitable for sensor use and increase the pressure sensing range.
  • the resistive screen structure is based on the resistive screen, including but not limited to the existing capacitive screen products and solutions. As long as the structure is the same, similar or similar, and can achieve the function of the resistive screen, it belongs to the resistive screen structure described in the present invention.
  • Existing resistive screen products and solutions its components may need to be replaced with existing materials with the same properties (such as electrical properties, conductivity), or parameters (such as material thickness, physical strength), as long as they have the same structure, they are considered The resistive screen structure of the present invention.
  • the conductive film can be replaced with a metal conductive film, which can be a metal film, a metal plate, or a composite material with the same conductivity.
  • the front of the existing resistive screen multi-display screen needs light transmission performance, but it is not needed as a sensor, and more materials can be selected, which will greatly expand the application range of the resistive screen structure as a sensor.
  • the current handwriting tablet of General Hanxiang as an independent computer handwriting input device, is an example.
  • Other components of the sensor can use existing products and technical solutions, and there are many types, and the disclosure is sufficient and sufficient, and the existing resistive screen can be copied.
  • the capacitive screen structure, and the capacitive writing board is also one of the applications, such as UGEE Youji s-300.
  • the elastic conductive body of the present invention can also be expressed as an elastic conductive body, that is, high resistance or insulation under normal conditions, and low resistance or conduction after being pressed.
  • the conductive rubber of the present invention can also be expressed as conductive rubber, that is, high resistance or insulation under normal conditions, and low resistance or conduction after being pressed.
  • nano silver wires and metal grids can be used instead of ITO, which has better conductivity.
  • the force measuring insole of the present invention is characterized in that: a high-precision sensor is installed, the sensor is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure, the elastic conductive body is located in the barrier layer in the resistive screen structure; elastic conductive The body is located on the touch side of the capacitive screen structure; at least one part of the insole has a force measurement point density greater than 120, 150, 400, 1000, 5000 and 10000 per square centimeter; and the data collection frequency is greater than 500Hz, 1kHz , 10kHz, 30kHz, 50kHz, 100kHz.
  • the smallest identification unit of the resistive screen and/or capacitive screen is regarded as a force measuring point.
  • the resolution of a resistive screen can be accurate to the pixel level, so each pixel is regarded as a force measuring point.
  • the sensor area of a single insole is greater than 4 square centimeters.
  • the sensor of the present invention is characterized in that the front and/or rear end of the insole have a hard frame.
  • the current force measuring insole is equipped with multiple sensors.
  • the sensors are evenly distributed, about four per square centimeter.
  • the purpose is to measure the force distribution of the sole of the foot, and the accuracy of the dynamic mechanical characteristics of the sole is not enough and not suitable It reflects the gait characteristics, and the cost is very high, and the practicality is poor.
  • the force distribution on the sole depends on the mechanical structure of the foot. Except for flat feet, the scientific value is low.
  • the resistive screen structure itself is a pressure-sensitive structure, which can be directly used as a force measuring insole sensor.
  • the appropriate size of the resistive screen structure product is fixed or compounded with the insole, and it can be used directly in the shoe. It is more like a resistive screen structure.
  • the seventh generation of General Xiang's tablet can directly collect plantar pressure data.
  • the present invention can also add protruding structures to the spacer layer on the bottom layer and/or surface layer, which are staggered with the elastic isolation points of the resistive screen.
  • the third layer and/or the first layer adds a convex structure to the second layer.
  • Such a raised structure design is conducive to triggering, especially in a resistive screen with a large barrier height, which is equivalent to transferring the function of the resistive screen stylus to the inside.
  • the raised structure is also equivalent to adding a special contact inside. It is more sensitive and more suitable for the response and detection of pressure.
  • Each convex structure is a highly sensitive contact (detection point, force measurement point, sensing point).
  • the insole is divided into seven parallel sections according to the different load-bearing degrees.
  • the names of the sections from front to back and their front and back lengths account for the total length of the sole in order: front end, 12%; palm front , 12%; front palm, 16%; back palm, 10%; lumbar block, 25%; hind palm, 13% and rear end, 12%.
  • Forefoot medial and lateral refers to the vertical bisector of the dividing line between the front palm and the front of the palm as the inner and outer sides of the boundary; the front and rear extension lines of the vertical bisector are the inner and outer boundaries of the front, front, and back of the palm.
  • the inner and outer sides of the lumbar block refer to the inner and outer sides divided by the vertical bisector of the boundary between the back of the palm and the lumbar block;
  • the inner and outer sides of the rear end refer to the inner and outer sides divided by the vertical bisector of the dividing line between the rear end and the hind palm; the front and rear extension lines of the vertical bisector are the inner and outer dividing lines of the hind palm.
  • the right side of the right foot is the outer side and the left side is the inner side
  • the left side of the left foot is the outer side and the right side is the inner side. That is, the side where the thumb of the foot is located is the inside, and the side where the fifth finger of the foot is located is the outside.
  • the seven-segment division of the insole can also be done in this way: based on the connection between the foremost end and the last end of the insole, the connection is vertically divided into seven parallel segments according to the aforementioned ratio. If there are no two points, such as a line or two points, the middle point of the line or the middle point of the connection between the two points is used as the front end and the end point. The inside and outside are divided according to the aforementioned method.
  • front half of the insole refers to the vertical bisector connecting the foremost end point and the last end point of the shoe insole as the dividing line, which is divided into two parts, the part where the sole is the front half, and the part where the heel is the back Half part. If there are no two points, such as a line or two points, the middle point of the line or the middle point of the connection between the two points is used as the front end and the end point.
  • the inside and outside are divided according to the aforementioned method.
  • Area A is located at the rear end, with 1/2 of the inner and outer boundary of the rear end as the center and a circular area with 1/3 of the length of the boundary as the diameter.
  • Zone B is located on the inner side of the forefoot. Make a vertical bisecting line at 1/2 point of the posterior boundary of this area, extend forward and intersect the frontal boundary at one point, and take the 1/2 point of the line between these two points as the center of the circle. 1/3 of the distance between these two points is the circular area formed by the diameter.
  • Area C is located on the outer side of the forefoot. Make a vertical bisector at 1/2 of the rear boundary of this area, extend forward and intersect the front boundary at one point, and take 1/2 of the line between these two points as the center of the circle. 1/3 of the distance between these two points is the circular area formed by the diameter.
  • Zone D is located in the middle of the forefoot.
  • the middle point of the inner and outer boundary of the forefoot is a circular area with a diameter of 1/3 of the length of the boundary.
  • the E area is located on the front and inner side of the palm.
  • a vertical bisector is made at 1/2 of the length of the rear boundary of the area. It extends forward and intersects the front boundary at one point.
  • the center of the circle is 1/2 of the line between these two points.
  • a circular area formed by taking 1/3 of the distance between these two points as the diameter.
  • the gait force measurement insole is characterized by: in the ABC area of the insole, at least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 128, 600, 1200, 5000, 10,000 per square centimeter One.
  • At least one area of the sole sensor or and/or sensor has an average density of sensing points greater than 128 per square centimeter.
  • At least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 600 per square centimeter.
  • At least one area of the sole sensor or and/or sensor has an average density of sensing points greater than 1200 per square centimeter.
  • At least one area of the sole sensor and/or the average density of sensor points of the sensor is greater than 5000 per square centimeter.
  • At least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 10,000 per square centimeter.
  • the current resistive screen has 15,000 sensing points per square centimeter.
  • the gait force measuring insole of the present invention is characterized in that: in the ABC area of the insole, there are at least two areas of plantar sensors or the average density of sensor points per square centimeter greater than 128, 600, 1200 , 5000, 10000.
  • the gait force measuring insole of the present invention is characterized in that: the ABC area of the insole, the average density of the sensor points of the sole sensor and/or the sensor per square centimeter is greater than 128, 600, 1200, 5000, 10,000 One.
  • the average density of the sole sensor and/or the sensor point of the sensor is greater than 128 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
  • the average density of the sole sensor and/or the sensor point of the sensor is greater than 1200 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 1200 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 1200 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
  • the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
  • the average density of the plantar sensor and/or the sensor point of the sensor is greater than 128, 600, 1200, 3000, 5000, 10000 per square centimeter One.
  • Different sensor densities and sensing point densities correspond to different test accuracy and are applied to different test objects and test items.
  • Low density is used for rehabilitation testing, and high density is used for data collection of competitive sports detection.
  • the above area has two or more layers of sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily rehabilitation.
  • the above ABCDE area has at least one area with two or more layers of sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily rehabilitation.
  • the above-mentioned ABCDE area has at least one area with four or more sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily exercise.
  • the above-mentioned ABCDE area has at least one area with 6 or more sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for competitive training.
  • the force measuring insole of the present invention has at least one sensor in the ABCDE area, and the sampling frequency is greater than 250, 500 Hz, 1 kHz, 10 kHz, 30 kHz, 50 kHz, and 100 kHz. They are used for rehabilitation exercise, daily life, fitness exercise, intensive exercise, competitive sports and laboratory research.
  • the gait force measurement insole of the present invention has at least one sensor in the ABC area, and the sampling frequency is greater than 500 Hz, 1 kHz, 10 kHz, 30 kHz, 50 kHz, and 100 kHz.
  • the gait force measuring insole of the present invention has at least one sensor in two areas in the ABC area, and the sampling frequency is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz.
  • the gait force measuring insole of the present invention is characterized in that the average density of the sensor or the sensor point of the plantar sensor in the A area is greater than that of the waist region.
  • the gait force measuring insole of the present invention is characterized in that: the average density of the sensor points of the plantar sensor or the sensor in the B and/or C area is greater than the waist area.
  • the gait force measuring insole of the present invention is characterized in that the average density of the plantar sensor or sensor in the A and/or B and/or C area is 2 times, 10 times, and 50 times higher than the waist region.
  • the gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensor points of the sensor, which is twice as large as other areas.
  • the gait force measuring insole of the present invention, the ABCE area sole sensor or the average density of the sensor points of the sensor is doubled than other areas.
  • the average density of the sensor points of the plantar sensor in the ABCDE area or the sensor is doubled than that of other areas.
  • the gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensing points of the sensor is more than three times larger than that in other areas.
  • the average density of the sensor points of the plantar sensor or the sensor in the ABCD area is more than three times greater than that of other areas.
  • the average density of the sensor points of the plantar sensor in the ABCDE area or the sensor is more than three times larger than that in other areas.
  • the gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensing points of the sensor is more than ten times greater than that in other areas.
  • the average density of the sensor points of the plantar sensor or the sensor in the ABCD area is more than ten times higher than that of other areas.
  • the gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than ten times greater than that in other areas.
  • the gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than 50 times larger than that in other areas.
  • the gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than 100 times greater than that in other areas.
  • sensors that cannot work or are not in a working state are regarded as non-existent, and sensors that do not participate in data analysis are also regarded as non-existent.
  • the sensor installation of the insole, from the anatomical point of view, and the need for data collection, removing meaningless parts can only cause meaningless interference.
  • the advantages of the present invention the high recognition accuracy of the plane position of the resistive screen structure and/or the capacitive screen structure is combined with the pressure sensitivity, and compared with the single-point array type tactile sensor, the position accuracy of the tactile sensor is greatly improved. Because the theoretical resolution of the resistive screen structure and the capacitive screen structure can reach the pixel level, each point that can be resolved is equivalent to a point of a single-point array sensor. You can also analyze the size and movement characteristics of the force according to the thickness, shape and conductivity of the elastic conductor, which has greater application prospects.
  • Figure 1 is a schematic diagram of the seven-segment distribution of the force measuring insole of the present invention.
  • the sole is divided into seven parallel sections according to the load bearing from back to front.
  • the names of each section in order are the rear end (1), the back palm (2), the waist block (3), the back palm (4), Forefoot (5), forefoot (6) and front end (7).
  • the location of the ABCDE area is shaded.
  • Figure 4 is the working principle diagram of the resistive screen structure. There are transparent isolation points in the barrier.
  • Figure 5 shows the working principle of the improved resistive screen structure.
  • the conductive rubber layer in the barrier replaces the transparent isolation point.
  • FIG. 6 is a drawing of the application number CN201210505083.0 of a push-type capacitive screen, which illustrates the working principle. It includes a capacitive screen body 100.
  • the front and back sides of the capacitive screen body 100 correspond to the touch side and the non-touch side of the capacitive screen body 100 respectively;
  • the touch side of the capacitive screen body 100 is provided with a flexible ITO conductive film 200, so
  • the flexible support 400 is evenly distributed between the flexible ITO conductive film 200 and the capacitive screen body 100, and the non-touch side is provided with an ITO conductive layer 300;
  • the flexible ITO conductive film 200 leads out an electrode to connect to a power source (not shown) ) Anode;
  • the ITO conductive layer 300 leads to an electrode to connect to the cathode of the power supply.
  • the flexible support 400 is a rubber support.
  • Figure 7 is a diagram showing the working principle of the improved capacitive screen structure.
  • the conductive rubber layer in the barrier replaces the flexible support rubber.
  • Resistive screen structure and capacitive screen structure are flat bodies in themselves. They are most directly applied to force measuring insoles. They can be laminated or combined with existing insole products. If necessary, a protective layer can be added to the upper and/or lower layers. , Or add a layer of foam directly.

Abstract

A high-precision flexible pressure sensor, which is applied to a force-measuring insole. An elastic conductor is combined with mature resistive screen and capacitive screen technologies to form a high-precision, low-cost, and high-maturity technical solution; compared to a single point array tactile sensor, the positional accuracy of a tactile sensor is greatly increased. The theoretical resolution of a resistive screen structure and a capacitive screen structure may reach pixel-grade, and each point that may be distinguished is equivalent to one point of the single point array sensor. Furthermore, the size and characteristics of a force may be analyzed according to different selections in the thickness, shape, and conductive performance of the elastic conductor.

Description

一种高精度传感器及在测力鞋垫的应用A high-precision sensor and its application in force measuring insoles
本发明属于高精度柔性压力传感器领域，也应用于一种测力鞋垫。本发明将弹性导电体与成熟电阻屏及电容屏技术结合，成为一种高精度低成本且成熟度高的技术方案。The invention belongs to the field of high-precision flexible pressure sensors, and is also applied to a force measuring insole. The invention combines the elastic conductor with mature resistive screen and capacitive screen technology to become a high-precision, low-cost, and highly mature technical solution.
技术背景：弹性导电体应用于传感器的技术是目前的热门课题，一般选择是导电橡胶作为力敏部件，利用其力敏电阻特性，将力信号转化为电信号，多用于单点传感器，面积稍大的需求，通过点阵排列的多点阵列方式实现。已授权的中国国家发明专利(公开号CN201210193314.9)公开了哈尔滨工业大学的一种仿人型机器人多手指柔性三维力触觉传感器及其三维力检测***。该传感器采用具有量子隧道效应的压敏复合材料QuantumTunnelingComposites(QTC)，当QTC不受外力施压时，其本体为绝缘体，当QTC受到外力施压时，本体发生压缩形变，QTC呈现导电特性，电阻阻值随着压力的增大而逐渐变小。已授权的中国国家发明专利(专利号：CN201410451649.5)公开了浙江大学基于压敏导电橡胶的柔性触滑觉复合传感阵列。采用日本INABA公司生产的Inastomer导电橡胶，具有优良的压阻特性、迟滞性能、及线性度，对轻微振动有良好的压力敏感效应，可以检测高频率低振幅的滑移信号。上述发明对于平面测力的分布效果有限，点阵结构的平面分辨率精度欠佳，技术的成熟性和实用性不强，成本也非常高。Technical background: The application of elastic conductors to sensors is a hot topic at present. The general choice is conductive rubber as a force-sensitive component. Using its force-sensitive resistance characteristics, the force signal is converted into an electrical signal. It is mostly used in single-point sensors with a small area. The large demand is realized through a multi-point array of dot matrix arrangement. The authorized Chinese national invention patent (publication number CN201210193314.9) discloses a humanoid robot multi-finger flexible three-dimensional force tactile sensor and its three-dimensional force detection system from Harbin Institute of Technology. The sensor uses QuantumTunnelingComposites (QTC), a pressure-sensitive composite material with quantum tunneling effect. When QTC is not pressed by external force, its body is an insulator. When QTC is pressed by external force, the body undergoes compression and deformation, and QTC exhibits conductive properties and resistance. The resistance value gradually decreases as the pressure increases. The authorized Chinese National Invention Patent (Patent No.: CN201410451649.5) discloses a flexible tactile composite sensor array based on pressure-sensitive conductive rubber in Zhejiang University. It adopts Inastomer conductive rubber produced by Japan's INABA company, which has excellent piezoresistive characteristics, hysteresis performance, and linearity. It has good pressure sensitivity to slight vibration and can detect high frequency and low amplitude slip signals. The above-mentioned invention has limited effect on the distribution of plane force measurement, the plane resolution accuracy of the lattice structure is not good, the maturity and practicability of the technology are not strong, and the cost is very high.
导电橡胶。导电橡胶用于传感器测力的基本原理是：导电橡胶在一定范围的压力作用下，导电橡胶的阻值会随着压力的增大逐渐减小，性能良好的导电橡胶可以在压力作用下由绝缘变为导电。目前添加了导电粒子的压力敏感导电橡胶被人们广泛关注。导电橡胶具有良好的柔韧性、耐磨性，该材料在一定的应力范围内电阻值随着应力的变化而变化，具有很好的压阻特性。导电橡胶力敏性传感器就是利用导电材料的压阻特性设计的一种新型传感器。但是，利用导电橡胶的力敏性做成的产品比较少，特别是用导电橡胶做成的传感器还是很少。导电橡胶力敏传感器也可以做为触觉传感器。感压导电橡胶，除具有灵敏度高，能够集成化智能化的特点外，还具有可曲挠性、高弹性、耐介质腐蚀、加工过程相对简单、可以制成大面积等特点。因此，在电阻应变式敏感材料中成为另一大类，而且占有不可取代的重要地位。感压导电橡胶就是制造触觉传感器合适的敏感材料之一。感压导电橡胶不但可以制造各种机器人的触觉、义手等感压传感器，还可以制造各种力敏传感器，各种触点触面开关元件，高密度文字处理机的开关面板，计算机的符号图象转读装置，以及作为滤波器件使用。Conductive rubber. The basic principle of conductive rubber used for sensor force measurement is: conductive rubber under a certain range of pressure, the resistance of conductive rubber will gradually decrease with the increase of pressure, conductive rubber with good performance can be insulated under pressure Become conductive. At present, the pressure-sensitive conductive rubber added with conductive particles has attracted wide attention. Conductive rubber has good flexibility and wear resistance. The resistance value of this material changes with the change of stress within a certain stress range, and it has good piezoresistive characteristics. The conductive rubber force-sensitive sensor is a new type of sensor designed by using the piezoresistive characteristics of conductive materials. However, there are relatively few products made of the force sensitivity of conductive rubber, especially sensors made of conductive rubber. Conductive rubber force sensitive sensors can also be used as tactile sensors. In addition to the characteristics of high sensitivity and integration and intelligence, pressure-sensitive conductive rubber also has the characteristics of flexibility, high elasticity, corrosion resistance, relatively simple processing, and large area. Therefore, it has become another major category in resistance strain sensitive materials, and it occupies an irreplaceable important position. Pressure-sensitive conductive rubber is one of the suitable sensitive materials for making tactile sensors. Pressure-sensitive conductive rubber can not only manufacture pressure-sensitive sensors such as tactile and prosthetic hand sensors for various robots, but also various force-sensitive sensors, various contact surface switch components, switch panels of high-density word processors, and computer symbols. Image transfer device, and use as a filter device.
电阻式触摸屏是一种应用极广泛的传感器，基本上是薄膜加上玻璃或有机玻璃的结构，薄膜和玻璃相邻的一面上均涂有ITO(纳米铟锡金属氧化物)涂层，ITO具有很好的导电性和透明性。当触摸操作时，薄膜下层的ITO会接触到玻璃上层的ITO，经由感应器传出相应的电信号，经过转换电路送到处理器，通过运算转化为屏幕上的X、Y值，而完成点选的动作，并呈现在屏幕上。电阻触摸屏的工作原理主要是通过压力感应原理来实现对屏幕内容的操作和控制的，这种触摸屏屏体部分是一块与显示器表面非常配合的多层复合薄膜，其中第一层为玻璃或有机玻璃底层，第二层为隔层，第三层为多元树脂表层，表面还涂有一层透明的导电层，上面再盖有一层外表面经硬化处理、光滑防刮的塑料层。在多元脂表层表面的传导层及玻璃层感应器是被许多微小的隔层所分隔电流通过表层，轻触表层压下时，接触到底层，控制器同时从四个角读出相称的电流及计算手指位置的距离。这种触摸屏利用两层高透 明的导电层组成触摸屏，两层之间距离仅为2.5微米。当手指触摸屏幕时，平常相互绝缘的两层导电层就在触摸点位置有了一个接触，因其中一面导电层接通Y轴方向的5V均匀电压场，使得侦测层的电压由零变为非零，控制器侦测到这个接通后，进行A/D转换，并将得到的电压值与5V相比，即可得触摸点的Y轴坐标，同理得出X轴的坐标，这就是所有电阻技术触摸屏共同的最基本原理。Resistive touch screen is a very widely used sensor. It is basically a structure of thin film and glass or plexiglass. The adjacent surfaces of the thin film and glass are coated with ITO (Nano Indium Tin Metal Oxide) coating. ITO has Very good conductivity and transparency. When touch operation, the ITO of the lower layer of the film will contact the ITO of the upper layer of the glass, and the corresponding electric signal will be transmitted through the sensor, and then sent to the processor through the conversion circuit, which is converted into the X and Y values on the screen through calculation, and the point is completed. The selected action is displayed on the screen. The working principle of the resistive touch screen is mainly through the principle of pressure sensing to realize the operation and control of the screen content. The screen body of this touch screen is a multi-layer composite film that matches the surface of the display. The first layer is glass or plexiglass. The bottom layer, the second layer is the barrier layer, and the third layer is the surface layer of multi-element resin. The surface is also coated with a transparent conductive layer, and the surface is covered with a hardened, smooth and scratch-resistant plastic layer. The conductive layer and glass layer sensor on the surface of the multi-element resin is separated by many tiny interlayers. The current passes through the surface layer. When the surface layer is touched lightly, it touches the bottom layer. The controller reads out the corresponding current and current from the four corners at the same time. Calculate the distance of the finger position. This touch screen uses two highly transparent conductive layers to form the touch screen, and the distance between the two layers is only 2.5 microns. When a finger touches the screen, the two conductive layers that are normally insulated from each other make a contact at the touch point. Because one conductive layer is connected to a 5V uniform voltage field in the Y axis direction, the voltage of the detection layer changes from zero to zero. Non-zero, after the controller detects this is turned on, it performs A/D conversion and compares the voltage value obtained with 5V to obtain the Y-axis coordinate of the touch point. Similarly, the X-axis coordinate can be obtained. It is the most basic principle common to all resistive technology touch screens.
电容式触摸屏技术是利用人体的电流感应进行工作的。电容式触摸屏是一块四层复合玻璃屏，玻璃屏的内表面和夹层各涂有一层ITO，最外层是一薄层矽土玻璃保护层，夹层ITO涂层作为工作面，四个角上引出四个电极，内层ITO为屏蔽层以保证良好的工作环境。当手指触摸在金属层上时，由于人体电场，用户和触摸屏表面形成以一个耦合电容，对于高频电流来说，电容是直接导体，于是手指从接触点吸走一个很小的电流。这个电流分别从触摸屏的四角上的电极中流出，并且流经这四个电极的电流与手指到四角的距离成正比，控制器通过对这四个电流比例的精确计算，得出触摸点的位置。电容触控屏分为基于表面电容式触摸技术(即SurfaceCapacitiveTouch，简称SCT)的表面电容触控屏和基于投射电容式触摸技术(即ProjectedCapacitiveTouch，简称PCT)的投射式电容触控屏。由于投射式电容触控屏比表面电容触控屏具有更优越的性能以及更长的使用寿命，因此，投射式电容触控屏广泛应用于生活中，其中投射式电容触控屏的工作原理具体为：首先，通过有效的电子控制将电容触控屏分割为多个与像素尺寸大小相当的传感单元，然后，采用极细的单轨金属丝进行整列.最后，将这些单轨金属丝连接到控制板。由于每根金属丝都有自己固定的电磁振荡频率，触摸电容触控屏的玻璃表面会引起金属丝振荡频率的改变，同时金属丝振荡频率的变化情况由控制板进行检测，最后通过控制板以及核心程序来确定触摸点。与表面电容触控屏相比，由于基于PCT技术的投射式电容触控屏的传感单元是嵌入式的，因此具有稳定性好，不容易受干扰，以及不容易损伤等优点。Capacitive touch screen technology uses the current induction of the human body to work. The capacitive touch screen is a four-layer composite glass screen. The inner surface and the interlayer of the glass screen are each coated with a layer of ITO. The outermost layer is a thin layer of silica glass protective layer. The interlayer ITO coating is used as the working surface, and the four corners are led out Four electrodes, the inner ITO is a shielding layer to ensure a good working environment. When a finger touches the metal layer, due to the electric field of the human body, a coupling capacitor is formed between the user and the touch screen surface. For high-frequency current, the capacitor is a direct conductor, so the finger draws a small current from the contact point. This current flows from the electrodes on the four corners of the touch screen, and the current flowing through the four electrodes is proportional to the distance from the finger to the four corners. The controller calculates the position of the touch point by accurately calculating the ratio of these four currents. . Capacitive touch screens are divided into surface capacitive touch screens based on surface capacitive touch technology (Surface Capacitive Touch, SCT for short) and projected capacitive touch screens based on projected capacitive touch technology (Projected Capacitive Touch, PCT for short). Since the projected capacitive touch screen has better performance and longer service life than the surface capacitive touch screen, the projected capacitive touch screen is widely used in life, and the working principle of the projected capacitive touch screen is specific This is: first, through effective electronic control, the capacitive touch screen is divided into a number of sensor units equivalent to the size of the pixel, and then a very thin monorail wire is used for alignment. Finally, these monorail wires are connected to the control board. Since each wire has its own fixed electromagnetic oscillation frequency, touching the glass surface of the capacitive touch screen will cause the wire oscillation frequency to change. At the same time, the change of the wire oscillation frequency is detected by the control board, and finally through the control board and The core program determines the touch point. Compared with the surface capacitive touch screen, because the sensing unit of the projected capacitive touch screen based on PCT technology is embedded, it has the advantages of good stability, not easy to be interfered, and not easy to damage.
一种高精度压力触觉传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：弹性导电***于电阻屏结构内的隔层；弹性导电***于电容屏结构本体的触摸侧。A high-precision pressure tactile sensor, which is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure. It is characterized in that the elastic conductive body is located in the barrier layer within the resistive screen structure; the elastic conductive body is located in the touch of the capacitive screen structure body side.
弹性导电体与电阻屏结构结构的组合，弹性导电***于电阻屏结构内的隔层。是用弹性导电体替代了现有隔层内的绝缘透明胶点。绝缘透明胶点用于隔开两个导电层，保持绝缘，受到外部压力时，两个导电层在受压位置导通。而弹性导电体就具有常态绝缘，受压后导电的功能，替代缘透明胶点非常合适。电阻屏制造更简单，因为不要求透明性，工艺和材料难度更低，测力的应用也更宽泛。The combination of an elastic conductor and a resistive screen structure. The elastic conductor is located in the barrier layer within the resistive screen structure. It replaces the insulating transparent glue dots in the existing barrier with elastic conductors. The insulating transparent glue dot is used to separate the two conductive layers and maintain insulation. When subjected to external pressure, the two conductive layers are conducted at the pressure position. The elastic conductor has the function of normal insulation and conduction after pressure, which is very suitable to replace the transparent glue dot. Resistive screens are easier to manufacture because they do not require transparency, the process and materials are less difficult, and the application of force measurement is wider.
弹性导电体与电阻屏结构的组合，借鉴了已授权中国发明专利(专利号：CN201210505083.0)，名为：一种按压式电容屏。该发明公开了一种按压式电容屏，用于绝缘体的压力触控感知，其包括电容屏本体，所述电容屏本体的正面和背面分别对应为电容屏本体的触摸侧和非触摸侧；所述电容屏本体的触摸侧设置有柔性ITO导电薄膜，所述柔性ITO导电薄膜与电容屏本体之间均布有柔性支承，所述非触摸侧设置有ITO导电层；所述柔性ITO导电薄膜引出一电极去连接一电源的正极；所述ITO导电层引出一电极去连接所述电源的负极。本发明的按压式电容屏在电容屏本体上配合设置柔性ITO导电薄膜、ITO导电层和柔性支承，可以用于检测类似塑料等绝缘体的触摸。其特征是：所述电容屏本体的正面和背面分别对应为电容屏本体的触摸侧和非触摸侧；所述电容屏本体的触摸侧设置有柔性ITO导电薄膜，所述柔性ITO导电薄膜与电容屏本体之间均布有柔性支承，所述非触摸侧设置有ITO导电层；所述柔性ITO导电薄膜引出一电极去连接一电源的正极；所述ITO导电层引出一电极 去连接所述电源的负极。The combination of elastic conductor and resistive screen structure borrows from the authorized Chinese invention patent (patent number: CN201210505083.0), named: a push-type capacitive screen. The invention discloses a push-type capacitive screen for pressure touch sensing of insulators, which includes a capacitive screen body, the front and back of the capacitive screen body correspond to the touch side and the non-touch side of the capacitive screen body, respectively; The touch side of the capacitive screen body is provided with a flexible ITO conductive film, a flexible support is evenly distributed between the flexible ITO conductive film and the capacitive screen body, and an ITO conductive layer is provided on the non-touch side; the flexible ITO conductive film leads An electrode is connected to the positive electrode of a power supply; the ITO conductive layer leads an electrode to be connected to the negative electrode of the power supply. The pressing type capacitive screen of the present invention is matched with a flexible ITO conductive film, an ITO conductive layer and a flexible support on the capacitive screen body, and can be used to detect the touch of an insulator like plastic. It is characterized in that: the front and back of the capacitive screen body correspond to the touch side and the non-touch side of the capacitive screen body, respectively; the touch side of the capacitive screen body is provided with a flexible ITO conductive film, and the flexible ITO conductive film and the capacitor Flexible supports are evenly distributed between the screen bodies, the non-touch side is provided with an ITO conductive layer; the flexible ITO conductive film leads out an electrode to connect to the positive electrode of a power supply; the ITO conductive layer leads out an electrode to connect to the power supply The negative electrode.
该发明对于压感的检测原理，与电阻屏类似。柔性支承相当于电阻屏的绝缘透明胶点，撑开两个导电层，受力压缩后导电被检测。本发明，是将柔性支承替换为弹性导电体，就像替换电阻屏隔层的绝缘透明胶点，能够达到同样的效果。本发明可以照搬该发明的其他特征。The detection principle of the pressure sensitivity of this invention is similar to that of a resistive screen. The flexible support is equivalent to the insulating transparent glue dot of the resistive screen, which stretches two conductive layers, and the conductivity is detected after being compressed by force. In the present invention, the flexible support is replaced with an elastic conductive body, just like replacing the insulating transparent glue point of the resistive screen barrier layer, which can achieve the same effect. The invention can copy other features of the invention.
将柔性支承替换弹性导电体后，可以表述为。一种高精度传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：所述电容屏结构，其本体的正面和背面分别对应为电容屏结构本体的触摸侧和非触摸侧；所述电容屏结构本体的触摸侧设置有柔性ITO导电薄膜，所述柔性ITO导电薄膜与电容屏结构本体之间均布有弹性导电体，所述非触摸侧设置有ITO导电层；所述柔性ITO导电薄膜引出一电极去连接一电源的正极；所述ITO导电层引出一电极去连接所述电源的负极。After replacing the flexible support with the elastic conductor, it can be expressed as. A high-precision sensor, which is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure. It is characterized in that the front and back sides of the capacitive screen structure correspond to the touch side and the non-contact side of the capacitive screen structure. Touch side; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, an elastic conductor is evenly distributed between the flexible ITO conductive film and the capacitive screen structure body, and the non-touch side is provided with an ITO conductive layer; The flexible ITO conductive film leads to an electrode to connect to the positive electrode of a power source; the ITO conductive layer leads to an electrode to connect to the negative electrode of the power source.
本发明方案也可以根据按压式电容屏发明的ITO导电薄膜设计方案，将ITO导电薄膜替换为同等电性能或更电性能优秀的材料，比如金属薄膜或金属薄片，增加触控的灵敏性，不考虑透光性自然可以有更多的选择，包括性能优势和性价比优势。还可以在同等电性能或更电性能优秀的材料，比如金属薄膜或金属薄片外层增加保护层，相当于增加ITO导电薄膜物理强度的效果。The solution of the present invention can also be based on the ITO conductive film design solution invented by the push-type capacitive screen, replacing the ITO conductive film with a material with the same electrical performance or better electrical performance, such as a metal film or a metal flake, to increase the sensitivity of touch control. Considering the light transmittance, there are naturally more choices, including performance advantages and cost-effective advantages. It is also possible to add a protective layer to the material with the same electrical performance or better electrical performance, such as a metal film or a metal foil, which is equivalent to increasing the physical strength of the ITO conductive film.
本发明方案还可以在ITO导电薄膜和/或金属薄膜或金属薄片外侧增加封装保护层，其特征是：将柔性ITO导电薄膜与弹性导电体和电容屏结构封装在一起。ITO导电薄膜封装可以用电阻屏的封装方法。可以减少外界温度湿度对电容屏精度和工作状态的影响，使传感器更稳定。The solution of the present invention can also add an encapsulation protection layer on the outside of the ITO conductive film and/or the metal film or the metal sheet, and is characterized in that the flexible ITO conductive film is packaged with the elastic conductor and the capacitive screen structure. ITO conductive film packaging can use the packaging method of resistive screen. It can reduce the influence of external temperature and humidity on the accuracy and working status of the capacitive screen, and make the sensor more stable.
本发明还可以不用导电体结构(即按压式电容屏专利的柔性ITO导电薄膜和所连接的电源)，即无源方案。一种高精度传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：将弹性导电体贴合于电容屏结构触摸侧。也可以表述为其特征是：所述电容屏结构本体的触摸侧设置有弹性导电体。或表述为，其特征是：所述电容屏结构的触摸侧设置有弹性导电体。本发明所述的弹性导电体可以是导电橡胶，这样可以直接检测导电物体的压力触控，也适用于人体触控的检查，触控依然有效。如同是在电容屏上铺设一层导电体，仍然可以手指触控操作，导电橡胶片受压后也具有导电性能，只不过是局限于按压部位。本发明的改进，使得结构更简单，应用范围更广。The invention can also eliminate the need for a conductive structure (that is, the flexible ITO conductive film of the patented push-type capacitive screen and the connected power supply), that is, a passive solution. A high-precision sensor is composed of an elastic conductive body, a resistive screen structure and/or a capacitive screen structure, and is characterized in that the elastic conductive body is attached to the touch side of the capacitive screen structure. It can also be expressed as a feature that: the touch side of the capacitive screen structure body is provided with an elastic conductive body. Or, it is characterized in that: the touch side of the capacitive screen structure is provided with an elastic conductive body. The elastic conductor of the present invention may be conductive rubber, which can directly detect the pressure touch of conductive objects, and is also suitable for the inspection of human touch, and the touch is still effective. Just like laying a layer of conductive body on the capacitive screen, it can still be operated by finger touch. The conductive rubber sheet also has conductive properties after being pressed, but it is limited to the pressed part. The improvement of the invention makes the structure simpler and the application range wider.
本发明还可以将按压式电容屏专利方案改变，一种高精度传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：柔性ITO导电薄膜引出一电极去接地。也符合电容屏的触控原理，用人体导电性可以，用接地导电自然也可以，结构也更简化，适用范围更广。完整表述为：一种高精度传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：所述电容屏结构，其本体的正面和背面分别对应为电容屏结构本体的触摸侧和非触摸侧；所述电容屏结构本体的触摸侧设置有柔性ITO导电薄膜，所述柔性ITO导电薄膜与电容屏结构本体之间均布有弹性导电体，所述非触摸侧设置有ITO导电层；所述柔性ITO导电薄膜引出一电极去连接地。The invention can also change the patented solution of the press type capacitive screen. A high-precision sensor is composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure. The feature is that the flexible ITO conductive film leads out an electrode to ground. It also conforms to the touch principle of the capacitive screen. It is possible to use the human body to conduct electricity, and it is also possible to use the grounding to conduct electricity. The structure is also simplified and the application range is wider. The complete expression is: a high-precision sensor, composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure, and is characterized in that: the capacitive screen structure, the front and back of the body correspond to the capacitive screen structure body Touch side and non-touch side; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, an elastic conductor is evenly distributed between the flexible ITO conductive film and the capacitive screen structure body, and the non-touch side is provided with ITO conductive layer; the flexible ITO conductive film leads to an electrode to connect to the ground.
本发明还可以将上述专利方案改变，表述为：一种高精度传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：所述电容屏结构，其本体的正面和背面分别对应为电容屏结构本体的触摸侧和非触摸侧；所述电容屏结构本体的触摸侧设置有柔性ITO导电薄膜，所述柔性ITO导电薄膜与电容屏结构本体之间均布有弹性导电体，所述非触摸侧设置有ITO导电层；所述柔性ITO导电薄膜引出一电极去连接一电源的负极；所述ITO导电层引出 一电极去连接所述电源的正极。The present invention can also change the above-mentioned patented solution and express it as: a high-precision sensor composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure, and is characterized by: the capacitive screen structure, the front surface of the body and The back side respectively correspond to the touch side and non-touch side of the capacitive screen structure body; the touch side of the capacitive screen structure body is provided with a flexible ITO conductive film, and elastic conductive films are evenly distributed between the flexible ITO conductive film and the capacitive screen structure body. The non-touch side is provided with an ITO conductive layer; the flexible ITO conductive film leads out an electrode to connect to the negative electrode of a power source; the ITO conductive layer leads out an electrode to connect to the positive electrode of the power source.
本发明所述的电容屏结构包括现有的表面式电容触摸屏和投射式电容屏(包括自电容屏和互电容屏)，也包括同等原理和/或同等结构的方案或产品。The capacitive screen structure of the present invention includes the existing surface-type capacitive touch screens and projected capacitive screens (including self-capacitance screens and mutual-capacitance screens), as well as solutions or products with the same principle and/or structure.
本发明所述的电阻屏结构包括现有的四线、五线、七线或八线，也包括同等原理和/或同等结构的方案或产品。The resistive screen structure of the present invention includes existing four-wire, five-wire, seven-wire or eight-wire, and also includes solutions or products with the same principle and/or structure.
本发明所述的传感器，其特征是：弹性导电体为面积大于1平方毫米或4平方毫米，或25平方毫米或81平方毫米的片状。The sensor of the present invention is characterized in that the elastic conductive body is a sheet with an area larger than 1 square millimeter or 4 square millimeters, or 25 square millimeters or 81 square millimeters.
弹性导电体面积要求是体现表面测力压力触觉传感器的特征，面积过小无意义。小于1平方毫米，不如用点测力解决，失去了进步意义。4平方毫米以下也近似于点测力，又回到了单点阵列的思路。25平方毫米才有实际价值，大于100平方毫米才具有应用价值。The area requirement of the elastic conductor is the characteristic of the surface force pressure tactile sensor, and the area is too small and meaningless. If it is less than 1 square millimeter, it is better to use spot force to solve it, which loses the significance of progress. Below 4 square millimeters is also similar to point measuring force, and it returns to the idea of single point array. Only 25 square millimeters have practical value, and only more than 100 square millimeters have practical value.
导电橡胶的厚度，根据力的大小和导电橡胶的性能而定。The thickness of the conductive rubber depends on the force and the performance of the conductive rubber.
本发明所述的传感器，其特征是：片状弹性导电体可以是导电橡胶，可以是厚度均匀的平面，也可以厚度有差异。可以用于检测特定形状的平面触控，有电子皮肤的效果。The sensor of the present invention is characterized in that the sheet-shaped elastic conductor can be conductive rubber, can be a plane with uniform thickness, or can have different thicknesses. It can be used to detect the plane touch of a specific shape and has the effect of an electronic skin.
本发明所述的传感器，其特征是：电阻屏结构和/或电容屏结构，可以是曲面，也可以是柱状，也可以不规则体。这样可以增加平面传感器的使用范围，增加立体感测围度。电阻屏和电容屏只作为曲面也很简单。The sensor of the present invention is characterized in that: the resistive screen structure and/or the capacitive screen structure can be curved, cylindrical, or irregular. This can increase the use range of the planar sensor and increase the stereo sensing circumference. Resistive screens and capacitive screens are also very simple as curved surfaces.
本发明的导电橡胶也可以表述为压感导电橡胶。压敏导电橡胶是具有电阻应变效应的敏感材料，又称为感压导电橡胶、压电橡胶。当外力不作用时，压敏导电橡胶的电阻值较高或绝缘；加受压后电阻值明显降低，显示导电的性质。压敏导电橡胶的成分可以是元乙丙橡胶、丁腈橡胶、氯丁橡胶、硅橡胶等，与导电粒子混炼后硫化制得。导电粒子可采用炭黑、金属粒子、石墨、纤维状导电填料等。感压导电橡胶，除具有灵敏度高，能够集成化智能化的特点外，还具有可曲挠性、高弹性、耐介质腐蚀、加工过程相对简单、可以制成大面积等特点。因此，在电阻应变式敏感材料中成为另一大类，而且占有不可取代的重要地位。感压导电橡胶就是制造触觉传感器合适的敏感材料之一。感压导电橡胶不但可以制造各种机器人的触觉、义手等感压传感器，还可以制造各种力敏传感器，各种触点触面开关元件，高密度文字处理机的开关面板，计算机的符号图象转读装置，以及作为滤波器件使用。The conductive rubber of the present invention can also be expressed as pressure-sensitive conductive rubber. Pressure-sensitive conductive rubber is a sensitive material with resistance strain effect, also known as pressure-sensitive conductive rubber and piezoelectric rubber. When the external force does not work, the resistance value of the pressure-sensitive conductive rubber is higher or insulated; the resistance value is significantly reduced after pressure is applied, showing the properties of conductivity. The components of the pressure-sensitive conductive rubber can be EPDM, nitrile rubber, chloroprene rubber, silicone rubber, etc., which are mixed with conductive particles and then vulcanized. The conductive particles can be carbon black, metal particles, graphite, fibrous conductive fillers, etc. In addition to the characteristics of high sensitivity and integration and intelligence, pressure-sensitive conductive rubber also has the characteristics of flexibility, high elasticity, corrosion resistance, relatively simple processing, and large area. Therefore, it has become another major category in resistance strain sensitive materials, and it occupies an irreplaceable important position. Pressure-sensitive conductive rubber is one of the suitable sensitive materials for making tactile sensors. Pressure-sensitive conductive rubber can not only manufacture pressure-sensitive sensors such as tactile and prosthetic hand sensors for various robots, but also various force-sensitive sensors, various contact surface switch components, switch panels of high-density word processors, and computer symbols. Image transfer device, and use as a filter device.
压感导电橡胶是成熟的市场产品，日本和台湾均有厂家Pressure sensitive conductive rubber is a mature market product, with manufacturers in Japan and Taiwan
压感导电橡胶公开的制备方法也很多《合肥工业大学学位论文》(博士)20081231黄英基于压力敏感导电橡胶的柔性多维阵列触觉传感器研究。经济可行的直接由液体固化成型的压力敏感导电橡胶制备新工艺使制备任意形状的柔性触觉传感器阵列成为可能。获得了确定最佳炭黑导电填料添加比例的科学依据。实验结果表明纳米材料使压力敏感导电橡胶的多项特性均有了明显的改善。已授权的中国国家发明专利(专利号：CN200710054951.7)河南师范大学；一种压敏导电橡胶及其制备方法。已授权专利(专利号：CN201210011604.7)合肥工业大学；各向异性导电橡胶及其制备方法There are also many published preparation methods for pressure-sensitive conductive rubber. "Thesis of Hefei University of Technology" (Ph.D.) 20081231 Huang Ying Research on flexible multi-dimensional array tactile sensors based on pressure-sensitive conductive rubber. The economical and feasible new process for preparing pressure-sensitive conductive rubber directly cured by liquid makes it possible to prepare flexible tactile sensor arrays of any shape. The scientific basis for determining the optimal carbon black conductive filler addition ratio has been obtained. Experimental results show that nano-materials have significantly improved many characteristics of pressure-sensitive conductive rubber. Authorized Chinese National Invention Patent (Patent No.: CN200710054951.7) Henan Normal University; a pressure-sensitive conductive rubber and its preparation method. Authorized patent (patent number: CN201210011604.7) Hefei University of Technology; Anisotropic conductive rubber and its preparation method
本发明所述的传感器，其特征是：所述的弹性导电体为各向异性橡胶。各向异性导电橡胶是由绝缘的弹性体与导电颗粒组成的一种导电橡胶。通过改进生产工艺使得橡胶内的导电粒子延z轴排列，形成导电隧道，在受到外部压力后，实现xy平面方向绝缘，z垂直方向导通，并且每一条导电隧道可作为独立的探针与被测物体接触，从而可用于高密度的可靠性测试。各向异性橡胶可以增加本发明传感器的位置精度。目前市场上的各向异性感压导电橡胶主要为日本公司制造。化学工程与装备杂志2019年第10期的各向异性感压导电橡胶的研 究和制备(作者：李哲)有制备的介绍。已授权的中国国家发明专利(专利号：CN201010112057.2)涉及各向异性感压导电橡胶材料及其制备方法。The sensor of the present invention is characterized in that the elastic conductive body is anisotropic rubber. Anisotropic conductive rubber is a kind of conductive rubber composed of insulating elastomer and conductive particles. By improving the production process, the conductive particles in the rubber are arranged along the z-axis to form a conductive tunnel. After being subjected to external pressure, the insulation in the xy plane direction and the conduction in the z vertical direction are realized, and each conductive tunnel can be used as an independent probe and Test object contact, which can be used for high-density reliability testing. Anisotropic rubber can increase the position accuracy of the sensor of the present invention. The anisotropic pressure conductive rubber currently on the market is mainly manufactured by Japanese companies. Journal of Chemical Engineering and Equipment 2019 sense of anisotropic conductive rubber pressure research and preparation (Author: Li Zhe) has introduced prepared. The authorized Chinese national invention patent (patent number: CN201010112057.2) relates to anisotropic pressure conductive rubber material and its preparation method.
本发明所述的传感器选用高采样频率的AD转换器和/或组件，其特征是：电阻屏和/或电容的AD转换器和/或组件采样频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz，1MHz。高采样频率对移动物体的位移检测，可以达到更高精度。生产高速AD的主要厂家有AD公司、Maxim公司以及TI公司(也就是BB公司)都可以满足。The sensor of the present invention selects an AD converter and/or component with a high sampling frequency, which is characterized in that the sampling frequency of the resistive screen and/or capacitive AD converter and/or component is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz, 1MHz. The displacement detection of moving objects with high sampling frequency can achieve higher accuracy. The main manufacturers of high-speed AD are AD company, Maxim company and TI company (that is, BB company).
本发明所述的传感器，其特征是：安装于鞋的鞋垫和/或内底和/或中底和/或外底贴地部位。The sensor of the present invention is characterized in that it is installed on the insole and/or the inner sole and/or the midsole and/or the ground part of the outsole of the shoe.
这是对足部测力的应用，应用于步态分析学科，测量足部运动特征，推算人体重心的运动特征。将传感器固定或者复合于鞋垫上，再在上下增加缓冲保护层(如海绵泡棉层)，避免踩踏破碎。还可以增加传感器自身的受冲击强度，增加电阻屏结构和/或电容平结构的材料硬度，或同时增加厚度。This is an application of foot force measurement, applied to the discipline of gait analysis, measuring the characteristics of foot movement, and calculating the movement characteristics of the human center of gravity. Fix or compound the sensor on the insole, and add a cushioning protective layer (such as a sponge foam layer) above and below to avoid crushing when stepped on. It is also possible to increase the impact strength of the sensor itself, increase the material hardness of the resistive screen structure and/or the capacitive flat structure, or increase the thickness at the same time.
电阻屏结构和/或电容屏结构引出的导线延长，连接A/D模块或组件，再经USB接口和与电脑和/或手机相连，读取数据，也可以存储，分析，发送数据。可以按照现有的手写板产品方案，稍作改变，本领域技术人员都可以，可以直接定制。电阻屏结构技术的压感手写板，代表产品有汉翔大将军第七代第八代手写板，在隔层内以导电橡胶层替换隔层绝缘胶点就可以实现，手写板材料为有机玻璃，可以承受人体的重力和轻微运动。电容屏结构的电感手写板，品牌有UGEE友基S-300电感产品系列，可以用手指肚书写，证明是电容屏结构，将平面尺寸缩小，在手写层增加一层导电橡胶，无压力时处于绝缘状态，受压后导电可以采集到数据，可以捕捉足部压力特征。赤足状态下，可以直接使用，因为人体可以导电，与手指触控原理相同。还可以将足底皮肤弄湿，增加导电性。还可以在导电橡胶层上面铺设一层导电金属薄片，如锡纸铝箔等，再在上面安装电极或引线，将引线引出，贴于小腿并用胶布固定，这样点感应更好。当然也可以用按压式电容屏的结构，对压感的捕捉更准确。为防止破损，电容屏材料可以更换为轻度更大的材料，或同时增加厚度，或厚度加倍，同时增加保护层。The wires from the resistive screen structure and/or capacitive screen structure are extended, connected to A/D modules or components, and then connected to a computer and/or mobile phone via a USB interface to read data, and can also store, analyze, and send data. It can be slightly changed according to the existing handwriting tablet product scheme, and those skilled in the art can directly customize it. The pressure-sensitive handwriting board with resistive screen structure technology. The representative product is the seventh generation and eighth generation handwriting board of General Hanxiang. It can be realized by replacing the insulating glue dots of the insulating layer with a conductive rubber layer in the compartment. The handwriting board material is plexiglass. , Can withstand the gravity and slight movement of the human body. Capacitive screen structure inductive handwriting board, the brand has UGEE Youji S-300 inductance product series, you can write with the belly of your finger, it proves to be a capacitive screen structure, the plane size is reduced, and a layer of conductive rubber is added to the handwriting layer, which is insulated when there is no pressure State, conductivity can collect data after pressure, and can capture foot pressure characteristics. In the barefoot state, it can be used directly because the human body can conduct electricity, which is the same as the principle of finger touch. It can also moisten the sole skin of the feet and increase conductivity. You can also lay a conductive metal sheet on the conductive rubber layer, such as tin foil, aluminum foil, etc., and then install electrodes or leads on the conductive rubber layer, and then lead the leads, stick them to the calves and fix them with tape, so that the point induction is better. Of course, a press-type capacitive screen structure can also be used to capture the pressure sensitivity more accurately. To prevent damage, the capacitive screen material can be replaced with a slightly larger material, or the thickness can be increased at the same time, or the thickness can be doubled, and a protective layer can be added at the same time.
安装在内底和/或中底和，与安装在鞋垫效果相同，可以更好的保护传感器，位置更固定，数据更准确。Installed on the insole and/or midsole has the same effect as installed on the insole. It can better protect the sensor, the position is more fixed, and the data is more accurate.
传感器安装于外底贴地部位，可以对比鞋内数据评价鞋对足部和人体运动的影响，把鞋作为评价对象。也可以评价地面对运动的影响，将场地作为评价对象。The sensor is installed on the ground of the outsole, which can compare the data in the shoe to evaluate the influence of the shoe on the foot and human movement, and the shoe is the evaluation object. It is also possible to evaluate the impact of the ground on sports, and the venue as the evaluation object.
本发明所述的传感器，其特征是：电阻屏结构传感器和电容屏结构传感器叠加使用，电阻屏结构在上。The sensor of the present invention is characterized in that: a resistive screen structure sensor and a capacitive screen structure sensor are used in superposition, and the resistive screen structure is on top.
二者原理和精度有差异，相互印证和数据校对，是数据更可靠，优选上层是电阻屏，因为比较柔软，对下层测力的影响较小。尤其适用安装于鞋垫和/或内底和/或中底，测量鞋内的足底力学状态。The principle and accuracy of the two are different. Mutual verification and data calibration make the data more reliable. The upper layer is preferably a resistive screen because it is softer and has less influence on the lower layer. It is especially suitable for installing on insoles and/or insoles and/or midsoles to measure the mechanical state of the soles in the shoes.
本发明所述的传感器，其特征是：导电橡胶的厚度低于5毫米、3毫米和1.5毫米或0.5毫米。The sensor of the present invention is characterized in that the thickness of the conductive rubber is less than 5 mm, 3 mm, 1.5 mm or 0.5 mm.
导电橡胶的厚度，关系到电信号的反应速度，导电橡胶越薄，越有利于高频数据的采集。特别适用于安装于鞋的鞋垫和/或内底和/或中底和/或外底贴地部位的产品。The thickness of the conductive rubber is related to the response speed of electrical signals. The thinner the conductive rubber, the more conducive to the collection of high-frequency data. It is especially suitable for products installed on the insole and/or insole and/or midsole and/or outsole of shoes.
本发明为组合性发明，不存在公开不充分情况。导电橡胶可以公开购买，也可以根据现有文献自制和委托生产，电阻屏结构电容屏结构则更广泛，电阻屏结构电容屏结构电脑手写板也是作为传感器的应用之一。如汉翔大将军手写板系列，友基手写板系列。足以支撑本组 合功能的实现，所以本发明方案不存在公开不充分的情况。The present invention is a combined invention, and there is no insufficient disclosure. Conductive rubber can be purchased publicly, or self-made and commissioned according to the existing literature. The capacitive screen structure of the resistive screen structure is more extensive, and the computer writing board of the capacitive screen structure of the resistive screen structure is also one of the applications of the sensor. Such as General Hanxiang handwriting board series, Youji handwriting board series. It is sufficient to support the realization of the combined function, so there is no insufficient disclosure in the solution of the present invention.
本发明基于现有的电阻屏结构和/或电容屏结构和技术，现有的产品和方案和软件支持都适用于本发明，数据采集电路和软件都可以选择现有产品和公开的技术方案。本发明只是将屏体部分做结构性改进，以适用传感器用途，增加压力感受范围。The present invention is based on the existing resistive screen structure and/or capacitive screen structure and technology. Existing products and solutions and software support are all suitable for the present invention, and the data acquisition circuit and software can be selected from existing products and disclosed technical solutions. In the present invention, the screen body is only structurally improved to be suitable for sensor use and increase the pressure sensing range.
电阻屏结构以电阻屏为基础，包括但不限于现有的电容屏产品和方案，只要结构相同、近似或近似，并能达到电阻屏功能，都属于本发方案所述的电阻屏结构。现有的电阻屏产品和方案，其部件可以需要更换为现有同等性能(如电性能，导电性能)的材料，或改变参数(如材料厚度，物理强度)，只要是相同结构，都视为本发明所述的电阻屏结构。导电膜可以更换为金属导电薄膜，可以是金属膜，金属板，或者有相同导电性能的复合材料。The resistive screen structure is based on the resistive screen, including but not limited to the existing capacitive screen products and solutions. As long as the structure is the same, similar or similar, and can achieve the function of the resistive screen, it belongs to the resistive screen structure described in the present invention. Existing resistive screen products and solutions, its components may need to be replaced with existing materials with the same properties (such as electrical properties, conductivity), or parameters (such as material thickness, physical strength), as long as they have the same structure, they are considered The resistive screen structure of the present invention. The conductive film can be replaced with a metal conductive film, which can be a metal film, a metal plate, or a composite material with the same conductivity.
现有的电阻屏多显示屏前面，需要透光性能，而作为传感器则不需要，可以有更多的材料可以选择，这将大大拓宽电阻屏结构作为传感器的应用范围。现在的汉翔大将军手写板，作为独立的电脑手写输入设备，便是例证。传感器的其他部件，可以用现有的产品和技术方案，种类也很多，公开足够很充分，可以照搬现有的电阻屏。电容屏结构也是如此，电容手写板也是应用之一，如UGEE友基s-300。The front of the existing resistive screen multi-display screen needs light transmission performance, but it is not needed as a sensor, and more materials can be selected, which will greatly expand the application range of the resistive screen structure as a sensor. The current handwriting tablet of General Hanxiang, as an independent computer handwriting input device, is an example. Other components of the sensor can use existing products and technical solutions, and there are many types, and the disclosure is sufficient and sufficient, and the existing resistive screen can be copied. The same is true for the capacitive screen structure, and the capacitive writing board is also one of the applications, such as UGEE Youji s-300.
本发明的所述的弹性导电体，也可以表述为弹性可导电体，即常态下为高电阻或绝缘，受压后为低电阻或导电。本发明的所述导电橡胶，也可以表述为可导电橡胶，即常态下为高电阻或绝缘，受压后为低电阻或导电。The elastic conductive body of the present invention can also be expressed as an elastic conductive body, that is, high resistance or insulation under normal conditions, and low resistance or conduction after being pressed. The conductive rubber of the present invention can also be expressed as conductive rubber, that is, high resistance or insulation under normal conditions, and low resistance or conduction after being pressed.
作为传感器用途，电阻屏结构和电容屏结构中，可以用纳米银线与金属网格替代ITO，导电性更佳。For sensor applications, in resistive screen structures and capacitive screen structures, nano silver wires and metal grids can be used instead of ITO, which has better conductivity.
本发明所述的测力鞋垫，其特征是：安装有高精度传感器，传感器由弹性导电体与电阻屏结构和/或电容屏结构组成，弹性导电***于电阻屏结构内的隔层；弹性导电***于电容屏结构本体的触摸侧；鞋垫内至少有一个部位的测力点密度每平方厘米大于120个，150个，400个，1000个，5000个和10000个；且数据采集频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz。The force measuring insole of the present invention is characterized in that: a high-precision sensor is installed, the sensor is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure, the elastic conductive body is located in the barrier layer in the resistive screen structure; elastic conductive The body is located on the touch side of the capacitive screen structure; at least one part of the insole has a force measurement point density greater than 120, 150, 400, 1000, 5000 and 10000 per square centimeter; and the data collection frequency is greater than 500Hz, 1kHz , 10kHz, 30kHz, 50kHz, 100kHz.
电阻屏和/或电容屏的最小识别单位，视为一个测力点。比如电阻屏分辨率可以精确到像素级，那么每个像素就视为一个测力点。单个鞋垫的传感器面积，大于4平方厘米。The smallest identification unit of the resistive screen and/or capacitive screen is regarded as a force measuring point. For example, the resolution of a resistive screen can be accurate to the pixel level, so each pixel is regarded as a force measuring point. The sensor area of a single insole is greater than 4 square centimeters.
本发明所述的传感器，特别是安装有该传感器的鞋垫，其特征是：鞋垫的前端和/或后端，有硬质边框。The sensor of the present invention, especially the insole equipped with the sensor, is characterized in that the front and/or rear end of the insole have a hard frame.
保持舒展和位置的稳定，避免位置变化影响精度，用于在鞋内固定，或活动安装，在边框上打孔，以针线固定在所在的鞋体上，就近缝合在鞋帮处。左右侧也可以硬质边框，增加平整度和测试精度。Keep the stretch and position stable to avoid the influence of position changes on the accuracy. It is used for fixing in the shoe or movably installing, punching holes in the frame, fixing it on the shoe body with a needle and thread, and stitching it to the upper. Hard borders can also be used on the left and right sides to increase flatness and test accuracy.
目前的测力鞋垫，安装有多个传感器，传感器都是均匀分布，每平方厘米四个左右，以测足底的受力分布为目的，对足底的动态力学特征的精度反应不够，不适合反应步态特征，而且成本非常高，实用性差。足底受力分布取决于足部的力学结构，除扁平足外，科学价值低。The current force measuring insole is equipped with multiple sensors. The sensors are evenly distributed, about four per square centimeter. The purpose is to measure the force distribution of the sole of the foot, and the accuracy of the dynamic mechanical characteristics of the sole is not enough and not suitable It reflects the gait characteristics, and the cost is very high, and the practicality is poor. The force distribution on the sole depends on the mechanical structure of the foot. Except for flat feet, the scientific value is low.
电阻屏结构，其本身就是压感结构，可以直接作为测力鞋垫传感器使用，将适当大小的电阻屏结构产品，与鞋垫固定或复合，放在鞋内可以直接使用，比电阻屏结构的如汉翔大将军手写板第七代就可以直接采集足底压力数据。The resistive screen structure itself is a pressure-sensitive structure, which can be directly used as a force measuring insole sensor. The appropriate size of the resistive screen structure product is fixed or compounded with the insole, and it can be used directly in the shoe. It is more like a resistive screen structure. The seventh generation of General Xiang's tablet can directly collect plantar pressure data.
针对电阻屏结构，本发明还可在其底层和/或表层增加向间隔层的凸起结构，与电阻屏的弹性隔离点交错分布。简单的说就是第三层和/或第一层增加了向第二层的凸起结构。这样凸 起结构设计有利于触发，特别是在隔层高度较大的电阻屏，相当于把电阻屏手写笔的功能转移到了内部，凸起结构也相当于在内部增加了特别的触点，变得更为灵敏，更适合对压力的反应和侦测。每一个凸起结构都是一个高灵敏触点(检测点、测力点、传感点)。Regarding the resistive screen structure, the present invention can also add protruding structures to the spacer layer on the bottom layer and/or surface layer, which are staggered with the elastic isolation points of the resistive screen. To put it simply, the third layer and/or the first layer adds a convex structure to the second layer. Such a raised structure design is conducive to triggering, especially in a resistive screen with a large barrier height, which is equivalent to transferring the function of the resistive screen stylus to the inside. The raised structure is also equivalent to adding a special contact inside. It is more sensitive and more suitable for the response and detection of pressure. Each convex structure is a highly sensitive contact (detection point, force measurement point, sensing point).
为叙述上的方便，将鞋垫按其承重程度的不同，分为平行的七段，自前至后各段名称及其前后长度占鞋底的前后总长度的比例依次为：前端，12％；掌前，12％；前掌，16％；掌后，10％；腰挡，25％；后掌，13％和后端，12％。For the convenience of description, the insole is divided into seven parallel sections according to the different load-bearing degrees. The names of the sections from front to back and their front and back lengths account for the total length of the sole in order: front end, 12%; palm front , 12%; front palm, 16%; back palm, 10%; lumbar block, 25%; hind palm, 13% and rear end, 12%.
前掌内外侧指以前掌和掌前的分界线的垂直平分线为界分成的内外两侧；该垂直平分线的前后延长线作为前端、掌前、掌后的内外侧分界线。Forefoot medial and lateral refers to the vertical bisector of the dividing line between the front palm and the front of the palm as the inner and outer sides of the boundary; the front and rear extension lines of the vertical bisector are the inner and outer boundaries of the front, front, and back of the palm.
腰挡内外侧指以掌后和腰挡的分界线的垂直平分线为界分成的内外两侧；The inner and outer sides of the lumbar block refer to the inner and outer sides divided by the vertical bisector of the boundary between the back of the palm and the lumbar block;
后端内外侧指以后端和后掌的分界线的垂直平分线为界分成的内外两侧；该垂直平分线的前后延长线作为后掌的内外侧分界线。The inner and outer sides of the rear end refer to the inner and outer sides divided by the vertical bisector of the dividing line between the rear end and the hind palm; the front and rear extension lines of the vertical bisector are the inner and outer dividing lines of the hind palm.
按此划分，右脚的右侧为外侧左侧为内侧，左脚的左侧为外侧右侧为内侧。即，脚的拇指所在一侧为内侧，脚的第五指所在一侧为外侧。According to this division, the right side of the right foot is the outer side and the left side is the inner side, and the left side of the left foot is the outer side and the right side is the inner side. That is, the side where the thumb of the foot is located is the inside, and the side where the fifth finger of the foot is located is the outside.
鞋垫的七段划分，也可以用这种方法：以鞋垫最前端端点和最后端端点连线为基准，该连线按前述比例垂直分为平行七段。如果没有最前端最后端这个两个点，比如是一条线或两个点，就以这条线的中间点或两个点连线的中间点作为最前端最后端端点。内侧和外侧的划分按前述方法。The seven-segment division of the insole can also be done in this way: based on the connection between the foremost end and the last end of the insole, the connection is vertically divided into seven parallel segments according to the aforementioned ratio. If there are no two points, such as a line or two points, the middle point of the line or the middle point of the connection between the two points is used as the front end and the end point. The inside and outside are divided according to the aforementioned method.
前述七段大底的两种描述判定侵权这两种方法都可以作为标准，任何一种方法的侵权都视为对本发明方案的侵权。The above two descriptions in the seven paragraphs of the bottom of the two descriptions can be used as standards. The infringement of either method is regarded as an infringement of the solution of the present invention.
术语“鞋垫的前半部分”指鞋的内底最前端端点和最后端端点连线的垂直平分线为分界线，为分成的前后两部分，脚掌所在的部分为前半部分，脚跟所在的部分为后半部分。如果没有最前端最后端这个两个点，比如是一条线或两个点，就以这条线的中间点或两个点连线的中间点作为最前端最后端端点。内侧和外侧的划分按前述方法。The term "front half of the insole" refers to the vertical bisector connecting the foremost end point and the last end point of the shoe insole as the dividing line, which is divided into two parts, the part where the sole is the front half, and the part where the heel is the back Half part. If there are no two points, such as a line or two points, the middle point of the line or the middle point of the connection between the two points is used as the front end and the end point. The inside and outside are divided according to the aforementioned method.
鞋垫内还有如下特殊区域There are also special areas in the insole as follows
A区位于后端，后端的内外侧分界线1/2处为圆心，以分界线1/3长度为直径的圆形区域。Area A is located at the rear end, with 1/2 of the inner and outer boundary of the rear end as the center and a circular area with 1/3 of the length of the boundary as the diameter.
B区位于前掌内侧，在该区域后侧分界线1/2点处做垂直平分线，向前延伸与前侧分界限相交于一点，以这两点连线1/2处为圆心，以这两点距离的1/3为直径所形成的圆形区域。Zone B is located on the inner side of the forefoot. Make a vertical bisecting line at 1/2 point of the posterior boundary of this area, extend forward and intersect the frontal boundary at one point, and take the 1/2 point of the line between these two points as the center of the circle. 1/3 of the distance between these two points is the circular area formed by the diameter.
C区位于前掌外侧，在该区域后侧分界线1/2点处做垂直平分线，向前延伸与前侧分界限相交于一点，以这两点连线1/2处为圆心，以这两点距离的1/3为直径所形成的圆形区域。Area C is located on the outer side of the forefoot. Make a vertical bisector at 1/2 of the rear boundary of this area, extend forward and intersect the front boundary at one point, and take 1/2 of the line between these two points as the center of the circle. 1/3 of the distance between these two points is the circular area formed by the diameter.
D区位于前掌中间，以前掌内外侧分界线中间点为圆心，以分界线1/3长度为直径的圆形区域。Zone D is located in the middle of the forefoot. The middle point of the inner and outer boundary of the forefoot is a circular area with a diameter of 1/3 of the length of the boundary.
E区位于掌前内侧，在该区域后侧分界线长度1/2点处做垂直平分线，向前延伸与前侧分界限相交于一点，以这两点连线1/2处为圆心，以这两点距离的1/3为直径所形成的圆形区域。The E area is located on the front and inner side of the palm. A vertical bisector is made at 1/2 of the length of the rear boundary of the area. It extends forward and intersects the front boundary at one point. The center of the circle is 1/2 of the line between these two points. A circular area formed by taking 1/3 of the distance between these two points as the diameter.
步态测力鞋垫，其特征是：在鞋垫的ABC区域，至少有一个区域足底传感器和/或传感器的传感点平均密度大于每平方厘米128个、600个、1200个、5000个、10000个。The gait force measurement insole is characterized by: in the ABC area of the insole, at least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 128, 600, 1200, 5000, 10,000 per square centimeter One.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，至少有一个区域足底传感器或和/传感器的传感点平均密度大于每平方厘米128个。In the gait force measuring insole of the present invention, in the ABC area of the insole, at least one area of the sole sensor or and/or sensor has an average density of sensing points greater than 128 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，至少有一个区域足底传感器和/或传感器的传感点平均密度大于每平方厘米600个。In the gait force measuring insole of the present invention, in the ABC area of the insole, at least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 600 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，至少有一个区域足底传感器或和/传感器的传感点平均密度大于每平方厘米1200个。In the gait force measuring insole of the present invention, in the ABC area of the insole, at least one area of the sole sensor or and/or sensor has an average density of sensing points greater than 1200 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，至少有一个区域足底传感器和/或传感器的传感点平均密度大于每平方厘米5000个。In the gait force measuring insole of the present invention, in the ABC area of the insole, at least one area of the sole sensor and/or the average density of sensor points of the sensor is greater than 5000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，至少有一个区域足底传感器和/或传感器的传感点平均密度大于每平方厘米10000个。比如目前的电阻屏每平方厘米有15000个传感点。In the gait force measuring insole of the present invention, in the ABC area of the insole, at least one area of the plantar sensor and/or the average density of sensor points of the sensor is greater than 10,000 per square centimeter. For example, the current resistive screen has 15,000 sensing points per square centimeter.
本发明所述的步态测力鞋垫，其特征是：鞋垫的ABC区域，至少有两个区域足底传感器或传感器的和/传感点平均密度每平方厘米大于128个、600个、1200个、5000个、10000个。The gait force measuring insole of the present invention is characterized in that: in the ABC area of the insole, there are at least two areas of plantar sensors or the average density of sensor points per square centimeter greater than 128, 600, 1200 , 5000, 10000.
本发明所述的步态测力鞋垫，其特征是：鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度每平方厘米大于128个、600个、1200个、5000个、10000个。The gait force measuring insole of the present invention is characterized in that: the ABC area of the insole, the average density of the sensor points of the sole sensor and/or the sensor per square centimeter is greater than 128, 600, 1200, 5000, 10,000 One.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米128个。In the gait force measuring insole of the present invention, in the ABC area of the insole, the average density of the sole sensor and/or the sensor point of the sensor is greater than 128 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米600个。In the gait force measuring insole of the present invention, in the ABC area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米1200个。In the gait force measuring insole of the present invention, in the ABC area of the insole, the average density of the sole sensor and/or the sensor point of the sensor is greater than 1200 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米5000个。In the gait force measuring insole of the present invention, in the ABC area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABC区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米10000个。In the gait force measuring insole of the present invention, in the ABC area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCD区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米600个。In the gait force measuring insole of the present invention, in the ABCD area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCD区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米1200个。In the gait force measuring insole of the present invention, in the ABCD area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 1200 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCD区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米5000个。In the gait force measuring insole of the present invention, in the ABCD area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCD区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米10000个。In the gait force measuring insole of the present invention, in the ABCD area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCDE区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米600个。In the gait force measuring insole of the present invention, in the ABCDE area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 600 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCDE区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米1200个。In the gait force measuring insole of the present invention, in the ABCDE area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 1200 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCDE区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米5000个。In the gait force measuring insole of the present invention, in the ABCDE area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 5000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCDE区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米10000个。In the gait force measuring insole of the present invention, in the ABCDE area of the insole, the average density of the sensor points of the sole sensor and/or the sensor is greater than 10,000 per square centimeter.
本发明所述的步态测力鞋垫，在鞋垫的ABCE区域，足底传感器和/或传感器的传感点平均密度大于每平方厘米128个、600个、1200个、3000个、5000个，10000个。In the gait force measuring insole of the present invention, in the ABCE area of the insole, the average density of the plantar sensor and/or the sensor point of the sensor is greater than 128, 600, 1200, 3000, 5000, 10000 per square centimeter One.
不同的传感器密度和传感点密度，对应不同的测试精度，应用于不同的检测对象和检测 项目。低密度用于康复检测，高密度用于竞技运动检测数据采集。Different sensor densities and sensing point densities correspond to different test accuracy and are applied to different test objects and test items. Low density is used for rehabilitation testing, and high density is used for data collection of competitive sports detection.
上述区域拥有两层或两层以上的传感器相互叠加。不同的层级，针对不同力的大小，两层的适用于日常康复。The above area has two or more layers of sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily rehabilitation.
上述ABCDE区域至少有一个区域，拥有两层或两层以上的传感器相互叠加。不同的层级，针对不同力的大小，两层的适用于日常康复。The above ABCDE area has at least one area with two or more layers of sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily rehabilitation.
上述ABCDE区域至少有一个区域，拥有四层或四层以上的传感器相互叠加。不同的层级，针对不同力的大小，两层的适用于日常锻炼。The above-mentioned ABCDE area has at least one area with four or more sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for daily exercise.
上述ABCDE区域至少有一个区域，拥有6层或6层以上的传感器相互叠加。不同的层级，针对不同力的大小，两层的适用于竞技型训练。The above-mentioned ABCDE area has at least one area with 6 or more sensors superimposed on each other. Different levels, for different strengths, two levels are suitable for competitive training.
本发明的测力鞋垫所述ABCDE区域至少有一个区域的一个传感器，采样频率大于250，500Hz，1kHz，10kHz，30kHz，50kHz，100kHz。分别用于康复运动，日常生活，健身运动，强化运动，竞技运动和实验室研究。The force measuring insole of the present invention has at least one sensor in the ABCDE area, and the sampling frequency is greater than 250, 500 Hz, 1 kHz, 10 kHz, 30 kHz, 50 kHz, and 100 kHz. They are used for rehabilitation exercise, daily life, fitness exercise, intensive exercise, competitive sports and laboratory research.
本发明的步态测力鞋垫，ABC区域至少有一个区域的一个传感器，采样频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz。The gait force measurement insole of the present invention has at least one sensor in the ABC area, and the sampling frequency is greater than 500 Hz, 1 kHz, 10 kHz, 30 kHz, 50 kHz, and 100 kHz.
本发明的步态测力鞋垫，ABC区域至少有两个区域的一个传感器，采样频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz。The gait force measuring insole of the present invention has at least one sensor in two areas in the ABC area, and the sampling frequency is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz.
本发明所述步态测力鞋垫，其特征是：A区域足底传感器或传感器的传感点平均密度大于腰档区域。The gait force measuring insole of the present invention is characterized in that the average density of the sensor or the sensor point of the plantar sensor in the A area is greater than that of the waist region.
本发明的所述步态测力鞋垫，其特征是：B和/或C区域足底传感器或传感器的传感点平均密度大于腰档区域。The gait force measuring insole of the present invention is characterized in that: the average density of the sensor points of the plantar sensor or the sensor in the B and/or C area is greater than the waist area.
本发明的所述步态测力鞋垫，其特征是：A和/或B和/或C区域足底传感器或传感器的传感点平均密度大于腰档区域2倍、10倍、50倍。The gait force measuring insole of the present invention is characterized in that the average density of the plantar sensor or sensor in the A and/or B and/or C area is 2 times, 10 times, and 50 times higher than the waist region.
本发明所述的步态测力鞋垫，其ABC区域足底传感器或传感器的传感点平均密度，大于其他区域一倍。The gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensor points of the sensor, which is twice as large as other areas.
本发明所述的步态测力鞋垫，ABCE区域足底传感器或传感器的传感点平均密度，大于其他区域一倍。The gait force measuring insole of the present invention, the ABCE area sole sensor or the average density of the sensor points of the sensor is doubled than other areas.
本发明所述的步态测力鞋垫，ABCDE区域足底传感器或传感器的传感点平均密度，大于其他区域一倍。In the gait force measuring insole of the present invention, the average density of the sensor points of the plantar sensor in the ABCDE area or the sensor is doubled than that of other areas.
本发明所述的步态测力鞋垫，其ABC区域足底传感器或传感器的传感点平均密度，大于其他区域三倍以上。The gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensing points of the sensor is more than three times larger than that in other areas.
本发明所述的步态测力鞋垫，ABCD区域足底传感器或传感器的传感点平均密度，大于其他区域三以上。In the gait force measuring insole of the present invention, the average density of the sensor points of the plantar sensor or the sensor in the ABCD area is more than three times greater than that of other areas.
本发明所述的步态测力鞋垫，ABCDE区域足底传感器或传感器的传感点平均密度，大于其他区域三倍以上。In the gait force measuring insole of the present invention, the average density of the sensor points of the plantar sensor in the ABCDE area or the sensor is more than three times larger than that in other areas.
本发明所述的步态测力鞋垫，其ABC区域足底传感器或传感器的传感点平均密度，大于其他区域十倍以上。The gait force measuring insole of the present invention has a plantar sensor in the ABC area or the average density of sensing points of the sensor is more than ten times greater than that in other areas.
本发明所述的步态测力鞋垫，ABCD区域足底传感器或传感器的传感点平均密度，大于其他区域十以上。In the gait force measuring insole of the present invention, the average density of the sensor points of the plantar sensor or the sensor in the ABCD area is more than ten times higher than that of other areas.
本发明所述的步态测力鞋垫，ABCDE区域足底传感器或传感器的传感点平均密度，大于其他区域十倍以上。The gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than ten times greater than that in other areas.
本发明所述的步态测力鞋垫，ABCDE区域足底传感器或传感器的传感点平均密度，大于其他区域50倍以上。The gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than 50 times larger than that in other areas.
本发明所述的步态测力鞋垫，ABCDE区域足底传感器或传感器的传感点平均密度，大于其他区域100倍以上。The gait force measuring insole of the present invention, the plantar sensor in the ABCDE area or the average density of the sensor points of the sensor is more than 100 times greater than that in other areas.
本发明所述的步态测力鞋垫，不能工作或不处于工作状态的传感器，视为不存在，不参与数据分析的传感器也视为不存在。鞋垫的传感器安装，从解剖学角度，和数据采集需要，去掉无意义的部位，只能会产生无意义的干扰。In the gait force measuring insole of the present invention, sensors that cannot work or are not in a working state are regarded as non-existent, and sensors that do not participate in data analysis are also regarded as non-existent. The sensor installation of the insole, from the anatomical point of view, and the need for data collection, removing meaningless parts can only cause meaningless interference.
本发明的优点：将电阻屏结构和/或电容屏结构的平面位置高识别精度，与压感结合，与单点阵列式触觉传感器相比，大大提高触觉传感器的位置精度。因为电阻屏结构和电容屏结构的理论分辨率可以达到像素级，每一个可以分辨的点，相当于单点阵列传感器的一个点。还可以根据弹性导电体厚度，形状和导电性能的不同选择，分析力的大小和运动特征，具有更大的应用前景。The advantages of the present invention: the high recognition accuracy of the plane position of the resistive screen structure and/or the capacitive screen structure is combined with the pressure sensitivity, and compared with the single-point array type tactile sensor, the position accuracy of the tactile sensor is greatly improved. Because the theoretical resolution of the resistive screen structure and the capacitive screen structure can reach the pixel level, each point that can be resolved is equivalent to a point of a single-point array sensor. You can also analyze the size and movement characteristics of the force according to the thickness, shape and conductivity of the elastic conductor, which has greater application prospects.
附图说明：Description of the drawings:
图1是本发明测力鞋垫七段分布示意图。Figure 1 is a schematic diagram of the seven-segment distribution of the force measuring insole of the present invention.
按图1所示，鞋底按承重自后至前划分为平行的七段，按顺序各段名称为后端(1)、后掌(2)、腰挡(3)、掌后(4)、前掌(5)、掌前(6)和前端(7)。As shown in Figure 1, the sole is divided into seven parallel sections according to the load bearing from back to front. The names of each section in order are the rear end (1), the back palm (2), the waist block (3), the back palm (4), Forefoot (5), forefoot (6) and front end (7).
在图2中，左脚前掌内侧用(8)表示，外侧用(9)表示。F表示前端硬质边框G表示后端硬质边框In Figure 2, the inside of the left forefoot is indicated by (8), and the outside is indicated by (9). F means front hard frame G means rear hard frame
在图3中，右脚前掌内侧用(8)表示，外侧用(9)表示。内侧外侧以此类推In Figure 3, the inside of the forefoot of the right foot is indicated by (8), and the outside is indicated by (9). Inside and outside and so on
ABCDE区域所在的位置，用阴影表示。The location of the ABCDE area is shaded.
图4为电阻屏结构工作原理图 隔层中是透明隔离点Figure 4 is the working principle diagram of the resistive screen structure. There are transparent isolation points in the barrier.
图5为改进后的电阻屏结构工作原理图隔层中导电橡胶层取代透明隔离点Figure 5 shows the working principle of the improved resistive screen structure. The conductive rubber layer in the barrier replaces the transparent isolation point.
图6为按压式电容屏申请号CN201210505083.0附图，工作原理说明。其包括电容屏本体100，所述电容屏本体100的正面和背面分别对应为电容屏本体100的触摸侧和非触摸侧；所述电容屏本体100的触摸侧设置有柔性ITO导电薄膜200，所述柔性ITO导电薄膜200与电容屏本体100之间均布有柔性支承400，所述非触摸侧设置有ITO导电层300；所述柔性ITO导电薄膜200引出一电极去连接一电源(图未示)的正极；所述ITO导电层300引出一电极去连接所述电源的负极。所述柔性支承400为橡胶支承。Figure 6 is a drawing of the application number CN201210505083.0 of a push-type capacitive screen, which illustrates the working principle. It includes a capacitive screen body 100. The front and back sides of the capacitive screen body 100 correspond to the touch side and the non-touch side of the capacitive screen body 100 respectively; the touch side of the capacitive screen body 100 is provided with a flexible ITO conductive film 200, so The flexible support 400 is evenly distributed between the flexible ITO conductive film 200 and the capacitive screen body 100, and the non-touch side is provided with an ITO conductive layer 300; the flexible ITO conductive film 200 leads out an electrode to connect to a power source (not shown) ) Anode; the ITO conductive layer 300 leads to an electrode to connect to the cathode of the power supply. The flexible support 400 is a rubber support.
图7为改进后的电容屏结构工作原理图隔层中导电橡胶层取代柔性支撑橡胶。Figure 7 is a diagram showing the working principle of the improved capacitive screen structure. The conductive rubber layer in the barrier replaces the flexible support rubber.
实施例一Example one
增加传感器的平面密度，在鞋垫的ABCDE区域，尽可能多的增加传感器，平面分布，能够捕捉更多的动态信息，形成可判断的步态资料。电阻屏结构和电容屏结构，本身即是平面体，应用于测力鞋垫最直接，与现有的鞋垫产品贴合或复合在一起，如果有必要，还可以在上层和/或下层增加保护层，或直接增加一层泡棉即可。Increase the plane density of the sensor. In the ABCDE area of the insole, increase the number of sensors as much as possible, and the plane distribution can capture more dynamic information and form a predictable gait data. Resistive screen structure and capacitive screen structure are flat bodies in themselves. They are most directly applied to force measuring insoles. They can be laminated or combined with existing insole products. If necessary, a protective layer can be added to the upper and/or lower layers. , Or add a layer of foam directly.
实施例二Example two
在鞋垫的ABCDE区域纵向增加传感器，可以由多层传感器叠加，可以垂直叠加也可以交错叠加，这样既可以捕捉运动方向又可以测量力的大小。Add sensors longitudinally in the ABCDE area of the insole, which can be superimposed by multiple layers of sensors, can be superimposed vertically or staggered, so that it can capture the direction of movement and measure the force.
以上描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。The preferred embodiments of the present invention are described above. However, the present invention is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, all of which are simple modifications. It belongs to the protection scope of the present invention.
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，也与文字描述和段落的顺序无关。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。In addition, it should be noted that the specific technical features described in the foregoing specific embodiments can be combined in any suitable manner without contradiction, and it is also independent of the order of the text description and paragraphs. In order to avoid unnecessary repetition, various possible combinations are not described separately in the present invention.
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所创造的内容。In addition, various different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the content created by the present invention.

Claims (10)

  1. 一种高精度压力触觉传感器，由弹性导电体与电阻屏结构和/或电容屏结构组成，其特征是：弹性导电***于电阻屏结构内的隔层；弹性导电***于电容屏结构本体的触摸侧。A high-precision pressure tactile sensor, which is composed of an elastic conductive body and a resistive screen structure and/or a capacitive screen structure. It is characterized in that the elastic conductive body is located in the interlayer in the resistive screen structure; the elastic conductive body is located in the touch of the capacitive screen structure body side.
  2. 根据权利要求1所述的传感器，其特征是：弹性导电体为面积大于1平方毫米，4平方毫米，25平方毫米，81平方毫米的片状。The sensor according to claim 1, wherein the elastic conductive body has a sheet shape with an area greater than 1 square millimeter, 4 square millimeters, 25 square millimeters, and 81 square millimeters.
  3. 根据权利要求1或2所述的传感器，其特征是：片状弹性导电体可以是导电橡胶，可以是厚度均匀的平面，也可以厚度有差异。The sensor according to claim 1 or 2, characterized in that: the sheet-like elastic conductor can be conductive rubber, can be a flat surface with uniform thickness, or can have different thicknesses.
  4. 根据权利要求1、2或3本发明所述的传感器，其特征是：所述的弹性导电体和/或导电橡胶为各向异性橡胶。The sensor of the present invention according to claim 1, 2 or 3, characterized in that the elastic conductive body and/or conductive rubber is anisotropic rubber.
  5. 根据权利要求1、2、3或4所述的传感器，其特征是：电阻屏结构和/或电容结构的AD转换器和/或组件采样频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz，1MHz。The sensor according to claim 1, 2, 3 or 4, characterized in that: the AD converter and/or component sampling frequency of the resistive screen structure and/or capacitive structure is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz, 1MHz.
  6. 根据权利要求1、2、3、4或5所述的传感器，其特征是：安装于鞋的鞋垫和/或内底和/或中底和/或外底贴地部位。The sensor according to claim 1, 2, 3, 4 or 5, characterized in that it is installed on the insole and/or insole and/or midsole and/or on the ground of the outsole.
  7. 根据权利要求1、2、3、4、5或6所述的传感器和/或鞋垫，其特征是：电阻屏结构传感器和电容屏结构传感器叠加使用，电阻屏结构在上。The sensor and/or insole according to claim 1, 2, 3, 4, 5 or 6, characterized in that: the resistive screen structure sensor and the capacitive screen structure sensor are used in a superposition, and the resistive screen structure is on top.
  8. 根据权利要求1、2、3、4、5、6或7所述的鞋垫，其特征是：安装有高精度传感器，传感器由弹性导电体与电阻屏结构和/或电容屏结构组成，弹性导电***于电阻屏结构内的隔层；弹性导电***于电容屏结构本体的触摸侧；鞋垫内至少有一个部位的测力点密度每平方厘米大于120个，150个，400个，1000个，5000个和10000个；且数据采集频率大于500Hz，1kHz，10kHz，30kHz，50kHz，100kHz。The insole according to claim 1, 2, 3, 4, 5, 6 or 7, characterized in that: a high-precision sensor is installed, and the sensor is composed of an elastic conductor and a resistive screen structure and/or a capacitive screen structure. The body is located in the barrier layer of the resistive screen structure; the elastic conductor is located on the touch side of the capacitive screen structure; the force measurement point density of at least one part of the insole is greater than 120, 150, 400, 1000, 5000 per square centimeter And 10,000; and the data collection frequency is greater than 500Hz, 1kHz, 10kHz, 30kHz, 50kHz, 100kHz.
  9. 根据权利要求1、2、3、4、5、6、7或8所述的鞋垫本发明所述的传感器，其特征是：导电橡胶的厚度低于5毫米、3毫米和1.5毫米或0.5毫米。The sensor of the present invention for the insole according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that the thickness of the conductive rubber is less than 5 mm, 3 mm, 1.5 mm or 0.5 mm .
  10. 根据权利要求1、2、3、4、5、6、7、8或9所述的鞋垫，其特征是：鞋垫的前端和/或后端，有硬质边框。The insole according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that the front and/or rear end of the insole has a hard frame.
PCT/CN2020/000046 2019-03-11 2020-03-10 High-precision sensor and application in force-measuring insole WO2020181902A1 (en)

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