Wearable motion capture method and system based on flexible mechanical sensor

Abstract

The invention provides a wearable motion capture method and system based on a flexible mechanical sensor, and relates to the technical field of motion capture. The wearable motion capture method based on the flexible mechanical sensor is realized by the flexible mechanical sensor, a signal acquisition and wireless transmission unit and an intelligent analysis and interaction unit. The method comprises the following steps: a flexible mechanical sensor monitors an individual joint movement signal in real time, and transmits the movement signal to a signal acquisition and wireless transmission unit to obtain monitoring data of the flexible mechanical sensor; the monitoring data are transmitted to the intelligent analysis and interaction unit, the corresponding relation between the individual motion signals and the motion amplitude and the motion direction is established by calibrating the motion amplitude and the motion direction of the joints, and a calibration result is obtained; and according to a calibration result, three-dimensional motion modeling and attitude restoration of the individual are realized by utilizing a computer technology. According to the invention, the capability of finely capturing the local motion of an individual can be improved, the wearable performance can be improved, and the anti-interference capability is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of motion capture technology, and in particular to a wearable motion capture method and system based on a flexible mechanical sensor. Background Art

[0002] Motion capture technology is a technology that uses a variety of technical means to measure and record the movement trajectory and posture of an individual in the actual three-dimensional space, and reconstruct the individual's movement state at every moment in the virtual three-dimensional space. As one of the important underlying technologies, motion capture technology has greatly promoted the development of the current intelligent society. In the early science fiction movies The Lord of the Rings and Avatar, the expressions and movements of the characters were captured and reconstructed through motion capture technology, creating countless classic scenes. In the current human-computer interaction and virtual reality technology, on the one hand, motion capture technology can be used to synchronously control the manipulator to complete some fine operations. On the other hand, motion capture technology can also be better integrated with the virtual world to obtain a more immersive experience. In addition, in the current medical and health field, motion capture technology can assist clinicians in the diagnosis and auxiliary treatment of some idiopathic and non-idiopathic diseases, giving full play to the advantages of medical and engineering intersection. Motion capture usually includes two processes. On the one hand, the equipment is used to perceive and record individual and local movements. On the other hand, based on the perceived and recorded data, computer technology is used to achieve three-dimensional modeling and posture restoration of individual and local movements. Motion perception has always been the premise and foundation of motion capture technology.

[0003] The currently widely used motion perception methods are mainly image / video tracking and inertial measurement. Image / video tracking mainly uses optical equipment to record individual movements and further uses them for individual 3D reconstruction; however, image / video tracking is easily restricted by the site of use, and there are occlusion problems and interference from environmental factors. Inertial measurement mainly uses gyroscopes, accelerometers and magnetometers to obtain acceleration, angular velocity and orientation information, thereby realizing individual motion capture; however, inertial measurement is extremely susceptible to electromagnetic interference, and the rigid system reduces wearability. In addition, traditional technologies have poor ability to perceive individual local movements in detail. Therefore, it is urgent to develop new motion perception strategies to achieve detailed perception of local movements.

[0004] Flexible mechanical sensors mainly measure and record individual movements by converting surface stress and strain that reflect motion information into readable electrical signals through signal transduction. They have the advantages of good wearability, high measurement accuracy, and fine perception of local motion. They effectively make up for the shortcomings of existing technical means and provide a new way for motion capture. However, there are many types of individual joints, and the forms of movement are complex and diverse. Compared with single-axis joints, two-axis and three-axis joints can perform complex three-dimensional movements such as abduction, adduction, rotation, and rotation. Therefore, it is crucial to provide a wearable motion capture system and method based on flexible mechanical sensors to improve the universality and versatility of individual motion capture. Summary of the invention

[0005] In order to solve the technical problems of poor wearability, low anti-interference ability and insufficient precision in capturing local motion in the prior art, the embodiment of the present invention provides a wearable motion capture method and system based on a flexible mechanical sensor. The technical solution is as follows:

[0006] On the one hand, a wearable motion capture method based on a flexible mechanical sensor is provided, the method is implemented by a wearable motion capture device based on a flexible mechanical sensor, and the method comprises:

[0007] S1, the flexible mechanical sensor monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor;

[0008] S2, transmitting the monitoring data to the intelligent analysis and interaction unit, calibrating the joint motion amplitude and motion direction, establishing a corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtaining a calibration result;

[0009] S3. Based on the calibration results, computer technology is used to complete individual three-dimensional motion modeling and posture restoration.

[0010] Optionally, the flexible mechanical sensor is used to monitor and record the amplitude, direction and movement pattern of the individual's movement in real time;

[0011] The signal acquisition and wireless transmission unit is used to obtain the monitoring data of the flexible mechanical sensor and transmit the monitoring data to the intelligent analysis and interaction unit;

[0012] The intelligent analysis and interaction unit is used to calibrate the joint movement amplitude and movement direction, establish the corresponding relationship between the individual movement signal and the movement amplitude and movement direction, and complete the individual three-dimensional movement modeling and posture restoration.

[0013] Optionally, the flexible mechanical sensor includes: any one of a uniaxial stress sensor, a uniaxial strain sensor, a biaxial stress sensor, a biaxial strain sensor, a triaxial stress and strain sensor, or a combination of two or more sensors;

[0014] Wherein, the uniaxial stress sensor and uniaxial strain sensor are used for monitoring the uniaxial joint motion range;

[0015] Among them, the biaxial stress sensor, the biaxial strain sensor, the triaxial stress and strain composite sensor are used for simultaneous monitoring of biaxial joint motion amplitude and triaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion direction, biaxial joint motion and triaxial joint motion mode.

[0016] Optionally, the uniaxial stress sensor and the uniaxial strain sensor reflect the amplitude of the uniaxial joint movement through a single response signal;

[0017] The biaxial stress sensor and the biaxial strain sensor reflect the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through two response signals;

[0018] The triaxial stress and strain composite sensor reflects the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through three response signals.

[0019] Optionally, the signal acquisition and wireless transmission unit includes: a single chip control module, a Bluetooth transmission module and a power control module.

[0020] Optionally, the flexible mechanical sensor and the signal acquisition and wireless transmission unit can be attached to the skin surface of an individual and worn directly, or integrated into clothing and a flexible substrate and worn.

[0021] Optionally, the intelligent analysis and interaction unit is a software-based visual interactive interface; wherein the software is any one of Unity, GameMaker, Godot and Unreal, and the individual or local joint movements are tracked and the posture is restored in real time by determining the amplitude of the flexible mechanical sensor response signal.

[0022] On the other hand, a wearable motion capture system based on a flexible mechanical sensor is provided, the system is applied to a wearable motion capture method based on a flexible mechanical sensor, and the system comprises:

[0023] The flexible mechanical sensor is used to capture individual joint motion signals in real time;

[0024] The signal acquisition and wireless transmission unit is used to transmit the motion signal to the signal acquisition and wireless transmission unit to obtain monitoring data of the flexible mechanical sensor;

[0025] The intelligent analysis and interaction unit is used to transmit the monitoring data to the intelligent analysis and interaction unit, and establish a corresponding relationship between the individual motion signal and the motion amplitude and motion direction by calibrating the joint motion amplitude and motion direction to obtain the calibration result; based on the calibration result, computer technology is used to complete the individual three-dimensional motion modeling and posture restoration.

[0026] Optionally, the flexible mechanical sensor is used to monitor and record the amplitude, direction and movement pattern of the individual's movement in real time;

[0027] The signal acquisition and wireless transmission unit is used to obtain the monitoring data of the flexible mechanical sensor and transmit the monitoring data to the intelligent analysis and interaction unit;

[0028] The intelligent analysis and interaction unit is used to calibrate the joint movement amplitude and movement direction, establish the corresponding relationship between the individual movement signal and the movement amplitude and movement direction, and complete the individual three-dimensional movement modeling and posture restoration.

[0029] Optionally, the flexible mechanical sensor includes: any one of a uniaxial stress sensor, a uniaxial strain sensor, a biaxial stress sensor, a biaxial strain sensor, a triaxial stress and strain sensor, or a combination of two or more sensors;

[0030] Wherein, the uniaxial stress sensor and the uniaxial strain sensor are used for monitoring the uniaxial joint motion range;

[0031] Among them, the biaxial stress sensor, the biaxial strain sensor, the triaxial stress and strain composite sensor are used for simultaneous monitoring of biaxial joint motion amplitude and triaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion direction, biaxial joint motion and triaxial joint motion mode.

[0032] Optionally, the uniaxial stress sensor and the uniaxial strain sensor reflect the amplitude of the uniaxial joint movement through a single response signal;

[0033] The biaxial stress sensor and the biaxial strain sensor reflect the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through two response signals;

[0034] The triaxial stress and strain composite sensor reflects the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through three response signals.

[0035] Optionally, the signal acquisition and wireless transmission unit includes: a single chip control module, a Bluetooth transmission module and a power control module.

[0036] Optionally, the flexible mechanical sensor and the signal acquisition and wireless transmission unit can be attached to the skin surface of an individual and worn directly, or integrated into clothing and a flexible substrate and worn.

[0037] Optionally, the intelligent analysis and interaction unit is a software-based visual interactive interface; wherein the software is any one of Unity, GameMaker, Godot and Unreal, and the individual or local joint movements are tracked and the posture is restored in real time by determining the amplitude of the flexible mechanical sensor response signal.

[0038] On the other hand, a wearable motion capture device based on a flexible mechanical sensor is provided, and the wearable motion capture device based on a flexible mechanical sensor comprises: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any one of the above-mentioned wearable motion capture methods based on flexible mechanical sensors is implemented.

[0039] On the other hand, a computer-readable storage medium is provided, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement any one of the above-mentioned wearable motion capture methods based on flexible mechanical sensors.

[0040] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0041] The flexible mechanical sensor of the embodiment of the present invention monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor; transmits the monitoring data to the intelligent analysis and interaction unit, calibrates the joint motion amplitude and motion direction, establishes the corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtains the calibration result; according to the calibration result, computer technology is used to complete the individual three-dimensional motion modeling and posture restoration.

[0042] The flexible mechanical sensor of the embodiment of the present invention is directly attached to the surface of the skin, and senses and quantifies the movement of the individual by specifically responding to the interaction between the skin and the sensor. It has high measurement accuracy and strong anti-interference ability. Compared with traditional image / video tracking and inertial measurement, it has a stronger ability to perceive local movements in detail. The motion capture device based on the flexible force vector sensor is highly wearable, easy to be conformally integrated with the individual, not restricted by the use site, and convenient for capturing individual three-dimensional movements in multiple occasions. It has broad application prospects in human-computer collaboration, metaverse interaction, and smart medical care. The wearable motion capture method based on the flexible mechanical sensor of the embodiment of the present invention is applicable to one-dimensional, two-dimensional, and three-dimensional motion capture of the individual. The use of the present invention can improve the ability to perceive individual local movements in detail, improve measurement accuracy, and improve the universality and versatility of individual motion capture. The present invention can improve wearability and enhance anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 is a flow chart of a wearable motion capture method based on a flexible mechanical sensor provided by an embodiment of the present invention;

[0045] Figure 2 is a structural schematic diagram of a uniaxial strain sensor provided by an embodiment of the present invention;

[0046] Figure 3 is a response signal diagram of a uniaxial strain sensor to a loading strain provided by an embodiment of the present invention;

[0047] Figure 4 is a schematic structural diagram of a biaxial strain sensor provided by an embodiment of the present invention;

[0048] Figure 5 is a response signal diagram of a biaxial strain sensor to loading strain provided by an embodiment of the present invention;

[0049] Figure 6 It is a structural schematic diagram of a triaxial stress and strain composite sensor provided by an embodiment of the present invention;

[0050] Figure 7 It is a response signal diagram of a triaxial stress and strain composite sensor to different loading forces provided by an embodiment of the present invention;

[0051] Figure 8It is a circuit diagram and a physical diagram of a signal acquisition and wireless transmission unit provided by an embodiment of the present invention;

[0052] Fig. 9 This is a physical diagram of a wearable motion capture system based on a flexible mechanical sensor provided in an embodiment of the present invention;

[0053] Fig.10 A wearable motion capture system based on a flexible mechanical sensor provided by an embodiment of the present invention is used for real-time tracking and posture restoration of neck joint motion;

[0054] Fig.11 is a block diagram of a wearable motion capture system based on a flexible mechanical sensor provided by an embodiment of the present invention;

[0055] Fig.12 It is a structural schematic diagram of a wearable motion capture device based on a flexible mechanical sensor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0057] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0058] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0059] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0060] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0061] The embodiment of the present invention provides a wearable motion capture method based on a flexible mechanical sensor, which can be implemented by a wearable motion capture device based on a flexible mechanical sensor, and the wearable motion capture device based on a flexible mechanical sensor can be a terminal or a server. Figure 1 The flowchart of the wearable motion capture method based on flexible mechanical sensors is shown, and the processing flow of the method may include the following steps:

[0062] S1. The flexible mechanical sensor monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor.

[0063] Among them, individuals may include: human body, animals and robots.

[0064] Among them, flexible mechanical sensors can capture joint motion signals of humans, animals and robots.

[0065] S2, transmitting the monitoring data to the intelligent analysis and interaction unit, calibrating the joint motion amplitude and motion direction, establishing the corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtaining the calibration result;

[0066] In a feasible implementation manner, the process of calibrating the joint motion amplitude and motion direction, the embodiment of the present invention takes the calibration of the neck motion as an example, and the process of calibrating the neck motion includes:

[0067] The marking points of the neck were set, and the neck was subjected to flexion, left and right lateral flexion, left and right rotation, and left and right anterior lateral flexion in turn; in each movement, the amplitude of each movement was 2°, and the response signal of the sensor was recorded after each movement; according to the above method, a data set of movement amplitude and corresponding response signal in different neck movement modes was constructed, and the calibration of the neck movement amplitude and direction was completed.

[0068] Optionally, a flexible mechanical sensor for real-time monitoring and recording of the amplitude, direction and movement pattern of individual movements;

[0069] Among them, flexible mechanical sensors measure and record individual movements by converting body surface stress and strain reflecting motion information into readable electrical signals through signal transduction. They have the advantages of good wearability, high measurement accuracy and fine perception of local motion. They effectively make up for the shortcomings of existing technical means and provide a new way for motion capture.

[0070] Optionally, the flexible mechanical sensor includes: any one of a uniaxial stress sensor, a uniaxial strain sensor, a biaxial stress sensor, a biaxial strain sensor, a triaxial stress and strain sensor, or a combination of two or more sensors;

[0071] Wherein, the uniaxial stress sensor and the uniaxial strain sensor are used for monitoring the uniaxial joint motion range;

[0072] Among them, the biaxial stress sensor, the biaxial strain sensor, the triaxial stress and strain composite sensor are used for simultaneous monitoring of the biaxial joint motion amplitude and triaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion direction, biaxial joint motion and triaxial joint motion mode.

[0073] Optionally, the uniaxial stress sensor and the uniaxial strain sensor reflect the amplitude of the uniaxial joint movement through a single response signal;

[0074] In a feasible implementation manner, the uniaxial stress sensor includes, from top to bottom, an upper packaging layer, a stress sensitive layer, and a lower packaging layer.

[0075] In a feasible implementation, Figure 2 The structure diagram of the uniaxial strain sensor is shown in FIG. 1 . The uniaxial strain sensor includes, from top to bottom, an upper packaging layer, a strain sensitive layer, and a lower packaging layer. Figure 3 The figure shows the response signal of the uniaxial strain sensor to the loaded tensile strain, wherein the response range to the loaded tensile strain is 0-100%. As the amount of loaded tensile strain increases, the response signal of the uniaxial strain sensor gradually increases.

[0076] In a feasible implementation manner, the specific process of preparing the uniaxial strain sensor includes:

[0077] (1) Weigh 2.0 g of polyurethane, 3.2 g of dimethylformamide and 4.8 g of tetrahydrofuran into a glass bottle, put it into a magnetic stirring bottle and dissolve it. During the dissolution process, the speed is 600 rpm, the heating temperature is 60°C, and the magnetic stirring time is 6 hours. After the stirring is completed, the polyurethane solution is allowed to stand for 2 hours to remove internal bubbles;

[0078] (2) The material of the uniaxial strain sensor is prepared by an electrospinning process, wherein the electrospinning process parameters of the upper encapsulation layer and the lower encapsulation layer include: the electrospinning voltage is 20 kV, the feed rate is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the speed of the receiving device is 100 rpm, and the electrospinning time is 6 h; the electrospinning process parameters of the strain sensitive layer substrate material include: the electrospinning voltage is 20 kV, the feed rate is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the speed of the receiving device is 2500 rpm, and the electrospinning time is 10 h; after the electrospinning is completed, the prepared material is peeled off from the receiving device;

[0079] (3) Soaking the strain sensitive layer substrate material in a carbon nanotube aqueous dispersion and ultrasonicating for 2 hours; spreading the composite material flat on a polytetrafluoroethylene plate, vacuum drying for 6 hours at a drying temperature of 50°C, and peeling off to obtain the strain sensitive layer of the uniaxial strain sensor;

[0080] (4) The packaging layer and the strain sensitive layer are cut by laser cutting process, wherein the power of laser cutting is 10W and the cutting speed is 100mm / s. The size of the packaging layer material after cutting is 4cm×1.6cm, and the size of the strain sensitive layer material is 3.6cm×1.2cm;

[0081] (5) The uniaxial strain sensor was prepared by hot pressing process, where the hot pressing temperature was 60°C, the loading pressure was 8 MPa, and the loading time was 30 s.

[0082] The biaxial stress sensor and the biaxial strain sensor reflect the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through two response signals;

[0083] Among them, the uniaxial joint can be a hinge joint with a fixed direction of movement. When monitoring finger movement, it is only necessary to monitor the amplitude of movement; the biaxial joint, such as the saddle joint, can perform multiple movement modes such as flexion, extension, abduction, adduction and rotation. When describing the movement of the biaxial joint, it is necessary to monitor both the amplitude and direction; the triaxial joint, such as the planar joint, has a more complex movement pattern than the biaxial joint, and it is necessary to monitor both the amplitude and direction.

[0084] Among them, the movement patterns include: flexion, extension, abduction, adduction, rotation and circumduction.

[0085] In a feasible implementation, the biaxial stress sensor includes from top to bottom: an upper packaging layer, an upper stress sensitive layer, a stress insulating layer, a lower stress sensitive layer and a lower packaging layer, wherein the electromechanical properties of the upper stress sensitive layer and the electromechanical properties of the lower stress sensitive layer are anisotropic; the upper stress sensitive layer and the lower stress sensitive layer are arranged in an orthogonal stack.

[0086] In a feasible implementation, Figure 4 The figure shows a schematic diagram of the structure of a biaxial strain sensor; the biaxial strain sensor includes from top to bottom: an upper packaging layer, an upper strain sensitive layer, a strain insulating layer, a lower strain sensitive layer and a lower packaging layer, wherein the electromechanical properties of the upper strain sensitive layer and the electromechanical properties of the lower strain sensitive layer are anisotropic; the upper strain sensitive layer and the lower strain sensitive layer are orthogonally stacked; wherein, Figure 5The figure shows the response signal of the biaxial strain sensor to the loaded strain, where the response range to the loaded tensile strain is 0-100%, and the response range to the loading direction is 0-90°. When different tensile strains are loaded in different directions, the two response signals change continuously, and the intensities of the two response signals jointly reflect the magnitude and direction of the loaded strain.

[0087] In a feasible implementation manner, the specific process of preparing the biaxial strain sensor includes:

[0088] (1) Weigh 2.0 g of polyurethane, 3.2 g of dimethylformamide and 4.8 g of tetrahydrofuran into a glass bottle, put it into a magnetic stirring bottle and dissolve it. During the dissolution process, the speed is 600 rpm, the heating temperature is 60°C, and the magnetic stirring time is 6 hours. After the stirring is completed, the polyurethane solution is allowed to stand for 2 hours to remove internal bubbles;

[0089] (2) The material of the biaxial strain sensor is prepared by an electrospinning process, wherein the electrospinning process parameters of the encapsulation layer material and the insulating layer material include: the electrospinning voltage is 20 kV, the feed rate is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the speed of the receiving device is 100 rpm, and the electrospinning time is 6 h; the electrospinning process parameters of the strain sensitive layer substrate material include: the electrospinning voltage is 20 kV, the feed rate is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the speed of the receiving device is 2500 rpm, and the electrospinning time is 10 h. After the electrospinning is completed, each material is peeled off from the receiving device;

[0090] (3) Soaking the strain sensitive layer substrate material in a carbon nanotube aqueous dispersion, ultrasonicating for 2 hours, then spreading the composite material flat on a polytetrafluoroethylene plate, vacuum drying for 6 hours at a drying temperature of 50°C, and peeling off to obtain the strain sensitive layer of the biaxial strain sensor;

[0091] (4) The packaging layer, insulation layer and strain sensitive layer materials are cut by laser cutting process, wherein the power of laser cutting is 10W and the cutting speed is 100mm / s. The size of the packaging layer material after cutting is 4cm×4cm, the size of the insulation layer material is 3.6cm×3.6cm, and the size of the strain sensitive layer material is 5.6cm×0.6cm;

[0092] (5) The biaxial strain sensor was prepared by hot pressing process, where the hot pressing temperature was 60 °C, the loading pressure was 8 MPa, and the loading time was 30 s.

[0093] The triaxial stress and strain composite sensor reflects the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through three response signals.

[0094] In a feasible implementation manner, the triaxial stress and strain composite sensor includes a stress sensing unit and a strain sensing unit from top to bottom; wherein the stress sensing unit includes an upper packaging layer, an upper stress sensitive layer, a stress spacing layer, a lower stress sensitive layer and an insulating layer from top to bottom; wherein the upper stress sensitive layer and the lower stress sensitive layer are high modulus rigid island structures, and the modulus of the stress sensitive layer is greater than 10 to any one of the packaging layer, the spacing layer and the insulating layer; wherein the strain sensing unit includes an upper strain sensitive layer, a strain insulating layer, a lower strain sensitive layer and a lower packaging layer from top to bottom, wherein the electromechanical properties of the upper strain sensitive layer and the electromechanical properties of the lower strain sensitive layer are anisotropic; and the upper strain sensitive layer and the lower strain sensitive layer are arranged in an orthogonal stack.

[0095] Among them, Figure 6 The figure shows a schematic diagram of the structure of a three-axis stress and strain composite sensor; wherein the three-axis stress and strain composite sensor includes, from top to bottom: a stress sensing unit and a strain sensing unit; wherein the stress sensing unit includes, from top to bottom, an upper packaging layer, an upper stress sensitive layer, a stress spacing layer, a lower stress sensitive layer and an insulating layer; wherein the upper stress sensitive layer and the lower stress sensitive layer are high modulus rigid island structures, and the ratio of the modulus of the stress sensitive layer to any one of the packaging layer, the spacing layer and the insulating layer is greater than 10; the strain sensing unit includes, from top to bottom, an upper strain sensitive layer, a strain insulating layer, a lower strain sensitive layer and a lower packaging layer, wherein the electromechanical properties of the upper strain sensitive layer and the electromechanical properties of the lower strain sensitive layer are anisotropic, and the upper strain sensitive layer and the lower strain sensitive layer are arranged in an orthogonal stack.

[0096] Among them, Figure 7 The figure shows the principle of three-dimensional motion monitoring of the three-axis stress and strain composite sensor. The essence of individual three-dimensional motion perception is the vector detection and superposition of complex strain and stress states at individual joints. The arbitrary spatial complex motion of an individual acts on the force vector sensor as an irregular three-dimensional force vector. Any three-dimensional force vector can be decomposed into regular component force vectors along three orthogonal axes. Corresponding to the individual, it actually realizes the detection of two strains and normal stress in the plane. Among them, the stress sensing unit is used to selectively respond to stress perpendicular to the skin direction; among them, the strain sensing unit is used to selectively respond to the size and direction of strain along the skin direction; the three-axis stress and strain composite sensor can selectively respond to the interaction between the individual and the sensor, and the three signal intensities jointly reflect the amplitude, direction and mode of the movement.

[0097] In a feasible implementation manner, the specific process of preparing the triaxial stress and strain composite sensor includes:

[0098] (1) Weigh 2.0 g of polyurethane, 3.2 g of dimethylformamide and 4.8 g of tetrahydrofuran into a glass bottle, put it into a magnetic stirring bottle and dissolve it. During the dissolution process, the speed is 600 rpm, the heating temperature is 60°C, and the magnetic stirring time is 6 hours. After the stirring is completed, the polyurethane solution is allowed to stand for 2 hours to remove internal bubbles;

[0099] (2) The materials of the triaxial stress and strain composite sensor were prepared by electrospinning process, wherein the electrospinning process parameters of the encapsulation layer material and the insulating layer material included: the electrospinning voltage was 20 kV, the feed rate was 0.5 ml / h, the distance between the receiving device and the Taylor cone was 18 cm, the speed of the receiving device was 100 rpm, and the electrospinning time was 6 h; the electrospinning process parameters of the spacer layer material included: the electrospinning voltage was 20 kV, the feed rate was 0.3 ml / h, the distance between the receiving device and the Taylor cone was 18, the speed of the receiving device was 100 rpm, and the electrospinning time was 4 h; the electrospinning process parameters of the stress sensitive layer substrate material include: the electrospinning voltage is 20 kV, the feed amount is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the rotation speed of the receiving device is 700 rpm, and the electrospinning time is 16 h; the electrospinning process parameters of the strain sensitive layer substrate material include: the electrospinning voltage is 20 kV, the feed amount is 0.5 ml / h, the distance between the receiving device and the Taylor cone is 18 cm, the rotation speed of the receiving device is 2500 rpm, and the electrospinning time is 10 h; after the electrospinning is completed, each material is peeled off from the receiving device.

[0100] (3) Soaking the stress sensitive layer substrate material and the strain sensitive layer substrate material in a carbon nanotube aqueous dispersion, ultrasonicating for 2 hours, spreading the composite material on a polytetrafluoroethylene plate, vacuum drying for 6 hours, setting the drying temperature to 50°C, and peeling off to obtain the stress sensing layer material and the strain sensing layer material;

[0101] (4) The functional layer materials are cut by laser cutting process, wherein the power of laser cutting is 10 W and the cutting speed is 100 mm / s; the size of the encapsulation layer and the insulation layer after cutting is 4 cm×4 cm, the diameter of the upper stress sensitive layer and the diameter of the lower stress sensitive layer are 1 cm, the diameter of the stress spacer layer is 1.2 cm, the size of the upper strain sensitive layer and the size of the lower strain sensitive layer are 5.6 cm×0.6 cm, and the diameter of the strain insulation layer is 1.2 cm;

[0102] (5) The three-axis stress and strain composite sensor is formed by a step-by-step hot pressing method. The step-by-step hot pressing forming process includes: hot pressing forming, arranging the upper packaging layer and the upper stress sensitive layer, and the lower stress sensitive layer and the insulating layer from top to bottom, respectively, so that the upper packaging layer and the upper stress sensitive layer, and the lower stress sensitive layer and the insulating layer are formed, wherein the hot pressing temperature is 60°C, the loading pressure is 8MPa, and the loading time is 30s; hot pressing forming, arranging the upper strain sensitive layer, the strain insulating layer, the lower strain sensitive layer and the lower packaging layer from top to bottom, wherein the upper strain sensitive layer The layer and the lower strain sensitive layer are further placed in an orthogonal stack to form the strain vector sensing unit, wherein the hot pressing temperature is 60°C, the loading pressure is 8MPa, and the loading time is 30s; after hot pressing molding, the molded upper packaging layer and the upper stress sensitive layer, the spacer layer, the molded lower stress sensitive layer and the insulating layer, and the strain vector sensing unit are stacked from top to bottom, and the template hot pressing molding process is used to finally form the triaxial stress and strain composite sensor, wherein the hot pressing temperature is 60°C, the loading pressure is 8MPa, and the loading time is 30s.

[0103] A signal acquisition and wireless transmission unit, used for acquiring monitoring data of the flexible mechanical sensor and transmitting the monitoring data to the intelligent analysis and interaction unit;

[0104] Among them, Figure 8 The circuit diagram and physical picture of the signal acquisition and wireless transmission unit are shown.

[0105] Optionally, the signal acquisition and wireless transmission unit includes: a single chip control module, a Bluetooth transmission module and a power control module.

[0106] Among them, the signal acquisition and wireless transmission unit can collect and wirelessly transmit one or two signals in real time according to the motion capture requirements.

[0107] Among them, motion capture requirements may include: capturing finger movements, capturing wrist movements, and capturing entire hand movements, etc.

[0108] Among them, when capturing finger movement, only one uniaxial strain sensor is needed. The uniaxial strain sensor will generate a response signal, and one signal needs to be collected.

[0109] Among them, when capturing wrist movement, a three-axis stress and strain composite sensor is required, which will collect one stress signal and two strain signals, and three signals are required for collection.

[0110] Among them, when capturing the entire hand movement, single-axis, dual-axis and three-axis joints are designed, multiple sensors need to be installed at the same time, and 22 signals need to be collected in the end, and 22 signals need to be collected simultaneously.

[0111] S3. Based on the calibration results, computer technology is used to complete the individual's three-dimensional motion modeling and posture restoration.

[0112] The intelligent analysis and interaction unit is used to calibrate the joint motion amplitude and motion direction, establish the corresponding relationship between individual motion signals and motion amplitude and motion direction, and complete individual three-dimensional motion modeling and posture restoration.

[0113] Among them, the intelligent analysis and interaction unit is an intelligent terminal, which can be a computer, a mobile phone or a tablet.

[0114] Optionally, the intelligent analysis and interaction unit is a software-based visual interactive interface; wherein the software is any one of Unity, GameMaker, Godot and Unreal, which performs real-time tracking and posture restoration of individual or local joint movements by determining the amplitude of the flexible mechanical sensor response signal.

[0115] In a feasible implementation, the intelligent analysis and interaction unit extracts the amplitude and direction feature information of the three-dimensional joint movement from the monitoring data, and uses a deep learning model to automatically learn features directly from the monitoring data to regress the individual joint movement amplitude and direction, thereby realizing three-dimensional modeling and posture restoration of individual or local joint movement.

[0116] Among them, the deep learning model can be any one of LSTM long short-term memory network, RNN recurrent neural network and GRU gated recurrent unit.

[0117] Optionally, the flexible mechanical sensor and the signal acquisition and wireless transmission unit can be attached to the skin surface of an individual and worn directly or integrated into clothing and a flexible substrate and worn.

[0118] In a feasible implementation manner, the present invention provides an embodiment of real-time tracking and posture restoration of neck joint motion; wherein, Fig. 9 The figure shows a wearable motion capture system based on flexible mechanical sensors. The three-axis stress and strain composite sensor is worn on the neck joint for real-time tracking of neck joint movement and posture restoration. During neck joint movement, the surface deformation caused by bone movement will produce mechanical effects such as compression and stretching on the device, and the forms of action are complex and diverse. Different forms of multi-dimensional movement of the neck joint will lead to selective responses of stress and strain sensing units. Finally, the amplitude and direction of neck joint movement are reflected by the signal amplitudes of the X-axis, Y-axis and Z-axis.

[0119] In a feasible implementation, Fig.10The wearable motion capture system based on flexible mechanical sensors is used for real-time tracking and posture restoration of cervical joint movement. In the process of flexion of the cervical joint, the cervical joint not only has a stretching effect on the three-axis stress and strain composite sensor, but also has a pressing effect perpendicular to the individual skin direction. Therefore, the three axes produce obvious resistive response signals. In the strain vector sensing unit, the upper sensing layer and the lower sensing layer have the same stretching amount, so the strength of their resistive response signals is also consistent. During the left flexion of the cervical joint, the Y axis produces a resistive signal response, while the X axis and the Z axis do not produce a resistive signal response. This is because during the left bending of the cervical joint, only the Y axis in the force vector sensor is mechanically stretched, so a selective response of the Y axis is generated. When the cervical joint is twisted to the left, the amplitude of the response signal of the Y axis is enhanced, and the Z axis produces a resistive response signal. During the left twisting of the cervical joint, the deformation of the body surface not only produces a mechanical stretching effect on the Y axis in the three-axis stress and strain composite sensor, but also produces a pressing effect on the Z axis. Compared with the bending motion signal, the resistance response signals of the Y and Z axes of the left anterior flexion have a small decrease; during the left anterior flexion, the asymmetry of the deformation of the body surface at the neck joint is enhanced, resulting in the deformation amplitude of the X axis being significantly greater than that of the Y axis, so the resistance signal intensity of the X axis is significantly higher than that of the Y axis; the left anterior flexion reduces the normal force of the body surface on the device, which leads to the weakening of the Z axis resistance response signal. The resistance response signals generated by the right side flexion, right torsion and right anterior flexion of the neck joint are opposite to the characteristic signals of the left side flexion, left torsion and left anterior flexion of the neck joint. Any movement of the neck joint will trigger the selective response of the X, Y and Z axes of the force vector sensor. By coupling the three-axis response signals, the accurate measurement of the three-dimensional movement of the neck joint can be achieved. After calibrating the flexion, left side flexion, left rotation and left anterior flexion of the neck joint, the neck joint movement can be synchronized in real time on the Unity interactive interface to achieve real-time tracking and posture restoration of the neck joint movement.

[0120] The flexible mechanical sensor of the embodiment of the present invention monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor; transmits the monitoring data to the intelligent analysis and interaction unit, calibrates the joint motion amplitude and motion direction, establishes the corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtains the calibration result; according to the calibration result, computer technology is used to complete the individual three-dimensional motion modeling and posture restoration.

[0121] The flexible mechanical sensor of the embodiment of the present invention is directly attached to the surface of the skin, and senses and quantifies the movement of the individual by specifically responding to the interaction between the skin and the sensor. It has high measurement accuracy and strong anti-interference ability. Compared with traditional image / video tracking and inertial measurement, it has a stronger ability to perceive local movements in detail. The motion capture device based on the flexible force vector sensor is highly wearable, easy to be conformally integrated with the individual, not restricted by the use site, and convenient for capturing individual three-dimensional movements in multiple occasions. It has broad application prospects in human-computer collaboration, metaverse interaction, and smart medical care. The wearable motion capture method based on the flexible mechanical sensor of the embodiment of the present invention is applicable to one-dimensional, two-dimensional, and three-dimensional motion capture of the individual. The present invention can improve the ability to perceive individual local movements in detail, improve measurement accuracy, and improve the universality and versatility of individual motion capture. The present invention can improve wearability and enhance anti-interference ability.

[0122] Fig.11 1 is a block diagram of a wearable motion capture system based on a flexible mechanical sensor according to an exemplary embodiment. The system is used in a wearable motion capture method based on a flexible mechanical sensor. Fig.11 The system includes a flexible mechanical sensor 310, a signal acquisition and wireless transmission unit 320, and an intelligent analysis and interaction unit 330. Among them:

[0123] The flexible mechanical sensor 310 is used to capture individual joint motion signals in real time;

[0124] The signal acquisition and wireless transmission unit 320 is used to transmit the motion signal to the signal acquisition and wireless transmission unit to obtain monitoring data of the flexible mechanical sensor;

[0125] The intelligent analysis and interaction unit 330 is used to transmit the monitoring data to the intelligent analysis and interaction unit, and establish a corresponding relationship between the individual motion signal and the motion amplitude and motion direction by calibrating the joint motion amplitude and motion direction to obtain the calibration result; based on the calibration result, computer technology is used to complete the individual three-dimensional motion modeling and posture restoration.

[0126] Optionally, the flexible mechanical sensor 310 is used to monitor and record the amplitude, direction and movement pattern of the individual's movement in real time;

[0127] The signal acquisition and wireless transmission unit is used to obtain the monitoring data of the flexible mechanical sensor and transmit the monitoring data to the intelligent analysis and interaction unit;

[0128] The intelligent analysis and interaction unit is used to calibrate the joint movement amplitude and movement direction, establish the corresponding relationship between the individual movement signal and the movement amplitude and movement direction, and complete the individual three-dimensional movement modeling and posture restoration.

[0129] Optionally, the flexible mechanical sensor 310 includes: any one of a uniaxial stress sensor, a uniaxial strain sensor, a biaxial stress sensor, a biaxial strain sensor, a triaxial stress and strain sensor, or a combination of two or more sensors;

[0130] Wherein, the uniaxial stress sensor and uniaxial strain sensor are used for monitoring the uniaxial joint motion range;

[0131] Among them, the biaxial stress sensor, the biaxial strain sensor, the triaxial stress and strain composite sensor are used for simultaneous monitoring of biaxial joint motion amplitude and triaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion direction, biaxial joint motion and triaxial joint motion mode.

[0132] Optionally, the uniaxial stress sensor and the uniaxial strain sensor reflect the amplitude of the uniaxial joint movement through a single response signal;

[0133] The biaxial stress sensor and the biaxial strain sensor reflect the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through two response signals;

[0134] The triaxial stress and strain composite sensor reflects the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through three response signals.

[0135] Optionally, the signal acquisition and wireless transmission unit 320 includes: a single chip control module, a Bluetooth transmission module and a power control module.

[0136] Optionally, the flexible mechanical sensor and the signal acquisition and wireless transmission unit can be attached to the skin surface of an individual and worn directly, or integrated into clothing and a flexible substrate and worn.

[0137] Optionally, the intelligent analysis and interaction unit is a software-based visual interactive interface; wherein the software is any one of Unity, GameMaker, Godot and Unreal, and the individual or local joint movements are tracked and the posture is restored in real time by determining the amplitude of the flexible mechanical sensor response signal.

[0138] The flexible mechanical sensor of the embodiment of the present invention monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor; transmits the monitoring data to the intelligent analysis and interaction unit, calibrates the joint motion amplitude and motion direction, establishes the corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtains the calibration result; according to the calibration result, computer technology is used to complete the individual three-dimensional motion modeling and posture restoration.

[0139] The flexible mechanical sensor of the embodiment of the present invention is directly attached to the surface of the skin, and senses and quantifies the movement of the individual by specifically responding to the interaction between the skin and the sensor. It has high measurement accuracy and strong anti-interference ability. Compared with traditional image / video tracking and inertial measurement, it has a stronger ability to perceive local movements in detail. The motion capture device based on the flexible force vector sensor is highly wearable, easy to be conformally integrated with the individual, not restricted by the use site, and convenient for capturing individual three-dimensional movements in multiple occasions. It has broad application prospects in human-computer collaboration, metaverse interaction, and smart medical care. The wearable motion capture method based on the flexible mechanical sensor of the embodiment of the present invention is applicable to one-dimensional, two-dimensional, and three-dimensional motion capture of the individual. The present invention can improve the ability to perceive individual local movements in detail, improve measurement accuracy, and improve the universality and versatility of individual motion capture. The present invention can improve wearability and enhance anti-interference ability.

[0140] Fig.12 is a schematic diagram of the structure of a wearable motion capture device based on a flexible mechanical sensor provided by an embodiment of the present invention, such as Fig.12 As shown, the wearable motion capture device based on the flexible mechanical sensor may include the above Fig.11 The wearable motion capture system based on flexible mechanical sensors is shown. Optionally, the wearable motion capture device 410 based on flexible mechanical sensors may include a first processor 2001 .

[0141] Optionally, the wearable motion capture device 410 based on flexible mechanical sensors may further include a memory 2002 and a transceiver 2003 .

[0142] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0143] Combine the following Fig.12 The components of the wearable motion capture device 410 based on the flexible mechanical sensor are specifically introduced as follows:

[0144] The first processor 2001 is the control center of the wearable motion capture device 410 based on the flexible mechanical sensor, and can be a processor or a general term for multiple processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (field programmable gate arrays, FPGAs).

[0145] Optionally, the first processor 2001 can perform various functions of the wearable motion capture device 410 based on the flexible mechanical sensor by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002.

[0146] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Fig.12 CPU0 and CPU1 are shown in FIG.

[0147] In a specific implementation, as an embodiment, the wearable motion capture device 410 based on the flexible mechanical sensor may also include multiple processors, such as Fig.12 The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0148] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled to be executed by the first processor 2001. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0149] Optionally, the memory 2002 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2002 may be integrated with the first processor 2001, or may exist independently, and may be accessed through the interface circuit ( Fig.12 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0150] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0151] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Fig.12 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0152] Optionally, the transceiver 2003 may be integrated with the first processor 2001, or may exist independently, and may be connected to the wearable motion capture device 410 based on the flexible mechanical sensor through an interface circuit ( Fig.12 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0153] It should be noted that Fig.12 The structure of the wearable motion capture device 410 based on flexible mechanical sensors shown in the figure does not constitute a limitation on the router. The actual knowledge structure recognition device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0154] In addition, the technical effects of the wearable motion capture device 410 based on flexible mechanical sensors can refer to the technical effects of the wearable motion capture method based on flexible mechanical sensors described in the above method embodiment, which will not be repeated here.

[0155] It should be understood that the first processor 2001 in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0156] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0157] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable system. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0158] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0159] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0160] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0161] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0162] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, systems and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0163] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of the system or unit, which can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0166] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0167] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A wearable motion capture method based on a flexible mechanical sensor, characterized in that: The wearable motion capture method based on flexible mechanical sensors is implemented by a wearable motion capture system based on flexible mechanical sensors, and the wearable motion capture system based on flexible mechanical sensors includes a flexible mechanical sensor, a signal acquisition and wireless transmission unit, and an intelligent analysis and interaction unit; the method includes: S1, the flexible mechanical sensor monitors the individual joint motion signal in real time, transmits the motion signal to the signal acquisition and wireless transmission unit, and obtains the monitoring data of the flexible mechanical sensor; S2, transmitting the monitoring data to the intelligent analysis and interaction unit, calibrating the joint motion amplitude and motion direction, establishing a corresponding relationship between the individual motion signal and the motion amplitude and motion direction, and obtaining a calibration result; S3. Based on the calibration results, computer technology is used to complete individual three-dimensional motion modeling and posture restoration.

2. The wearable motion capture method based on flexible mechanical sensor according to claim 1 is characterized in that: The flexible mechanical sensor is used to monitor and record the amplitude, direction and movement pattern of individual movements in real time; The signal acquisition and wireless transmission unit is used to obtain the monitoring data of the flexible mechanical sensor and transmit the monitoring data to the intelligent analysis and interaction unit; The intelligent analysis and interaction unit is used to calibrate the joint movement amplitude and movement direction, establish the corresponding relationship between the individual movement signal and the movement amplitude and movement direction, and complete the individual three-dimensional movement modeling and posture restoration.

3. The wearable motion capture method based on flexible mechanical sensor according to claim 1 is characterized in that: The flexible mechanical sensor includes: any one of a uniaxial stress sensor, a uniaxial strain sensor, a biaxial stress sensor, a biaxial strain sensor, a triaxial stress and strain sensor, or a combination of two or more sensors; Wherein, the uniaxial stress sensor and the uniaxial strain sensor are used for monitoring the uniaxial joint motion range; Among them, the biaxial stress sensor, the biaxial strain sensor, and the triaxial stress and strain composite sensor are used for simultaneous monitoring of biaxial joint motion amplitude and triaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion direction, biaxial joint motion, and triaxial joint motion mode.

4. The wearable motion capture method based on flexible mechanical sensor according to claim 3 is characterized in that: The uniaxial stress sensor and the uniaxial strain sensor reflect the amplitude of the uniaxial joint movement through a single response signal; The biaxial stress sensor and the biaxial strain sensor reflect the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through two response signals; The triaxial stress and strain composite sensor reflects the biaxial joint motion amplitude, biaxial joint motion direction, triaxial joint motion amplitude, triaxial joint motion direction, biaxial joint motion mode and triaxial joint motion mode through three response signals.

5. The wearable motion capture method based on flexible mechanical sensor according to claim 1 is characterized in that: The signal acquisition and wireless transmission unit comprises: a single chip control module, a Bluetooth transmission module and a power supply control module.

6. The wearable motion capture method based on flexible mechanical sensor according to claim 1 is characterized in that: The flexible mechanical sensor and the signal acquisition and wireless transmission unit can be attached to the skin surface of an individual and worn directly or integrated on clothing and a flexible substrate and worn.

7. The wearable motion capture method based on flexible mechanical sensor according to claim 1 is characterized in that: The intelligent analysis and interaction unit is a software-based visual interaction interface; wherein the software is any one of Unity, GameMaker, Godot and Unreal, and performs real-time tracking and posture restoration of individual or local joint movements by determining the amplitude of the flexible mechanical sensor response signal.

8. A wearable motion capture system based on a flexible mechanical sensor, wherein the wearable motion capture system based on a flexible mechanical sensor is used to implement the wearable motion capture method based on a flexible mechanical sensor as claimed in any one of claims 1 to 7, characterized in that: The system comprises: The flexible mechanical sensor is used to monitor individual joint motion signals in real time; The signal acquisition and wireless transmission unit is used to transmit the motion signal to the signal acquisition and wireless transmission unit to obtain monitoring data of the flexible mechanical sensor; The intelligent analysis and interaction unit is used to transmit the monitoring data to the intelligent analysis and interaction unit, establish a corresponding relationship between the individual motion signal and the motion amplitude and motion direction by calibrating the joint motion amplitude and motion direction, and obtain a calibration result; According to the calibration results, computer technology is used to complete individual three-dimensional motion modeling and posture restoration.

9. A wearable motion capture device based on a flexible mechanical sensor, characterized in that: The wearable motion capture device based on the flexible mechanical sensor includes: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 7.

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