Flexible fabric based serial multi-joint-angle detection system

Abstract

A flexible fabric based serial multi-joint-angle detection system comprises an elastic electrically-insulating substrate layer, microswitches, first sensing electrodes and second sensing electrodes. The first sensing electrodes and the second sensing electrodes are arranged on two sides of joints. Each sensing electrode is provided with a flexible polyimide insulating protective layer. Each sensing electrode is in a sensing unit structure comprising a polypyrrole conducting fabric capacitive electrode and a polypyrrole conducting fabric ground layer facing each other, between which a conducting silicone rubber shielding layer is arranged; space between the polypyrrole conducting fabric capacitive electrode and the polypyrrole conducting fabric ground layer is filled with a first flexible epoxy resin insulating layer; space between the conducting silicone rubber shielding layer and the polypyrrole conducting fabric ground layer is filled with a second flexible epoxy resin insulating layer. The elastic electrically-insulating substrate layer is arranged under the sensing electrodes. One end of each microswitch is connected with the polypyrrole conducting fabric capacitive electrode of the corresponding first sensing electrode through a shielded lead; the other end of each microswitch is connected with the polypyrrole conducting fabric capacitive electrode of each second sensing electrode through another shielded lead.

Description

technical field [0001] The invention relates to the fields of signal detection, sensing technology and transmission technology, in particular to a multi-joint angle integrated serial detection system based on flexible fabric, which is suitable for the fields of intelligent robots, sports monitoring and medical monitoring. Background technique [0002] Angle measurement generally obtains the rotation angle signal through the sensor, converts it into a circuit parameter, and then converts it into an electrical signal output through the conversion circuit. There are many types of modern angle measurement technologies, which have been widely used in motors, automobiles, ship transportation, transportation, machinery manufacturing, petroleum, metallurgy and many other aspects. [0003] At present, there are many kinds of angle detection sensors, which can be divided into non-flexible angle detection sensors and flexible angle detection sensors according to their sensing materials...

AI Technical Summary

Problems solved by technology

At present, a flexible joint angle sensor invented by Quan Wei et al. of Harbin Institute of Technology uses a flexible bellows as the main structure, and the two ends are fixed on both sides of the object to be detected. It has the characteristics of simple and compact structure and does not affect the joint movement. The flexibility of the entire system has not yet been realized, and the purpose of motion detection of multiple independent joints without movement barriers can not be achieved; Li Jianqing of Southeast University and others invented a flexible shoulder joint motion sensor and its measurement method. The sense plate is sewn on the fabric, which realizes the measurement of the joint angle only by wearing it, changing the previous bulky, complicated and harsh testing conditions

However, this method does not realize the complete flexibility of the sensing plate, and at the same time, it can only realize the measurement of one joint angle by traditional two polar plates. When this method is used for multi-joint angle detection, the number of detection units and their supporting measurement leads increases accordingly. , causing the detection system to be large in size and heavy in weight, resulting in a significant increase in the joint’s movement resistance. At the same time, the cost of the system is high, and the detection system is complicated to reduce its reliability; The capacitance change between them significantly affects the accuracy of joint angle detection results

These angle detection devices are partially flexible, and for multi-joint angle detection, as the joint angle increases, the signal transmission lines drawn out also increase, resulting in more lead wires at the joints closer to the detection device; at the same time, more A capacitive detection chip takes up a lot of space and hinders the normal movement of the human body

[0005] The rigid detection device of the non-flexible angle detection sensor has high hardness and cannot meet the requirements of motion detection without movement obstacles; the flexible angle detection sensor has not realized all the flexibility of the sensor, and there is still a great sense of obstacle to the movement of the human body

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