Self-powered human-computer interaction sensing glove based on 3D printing and printing method thereof

Abstract

This invention belongs to the field of human-computer interaction technology and discloses a self-powered human-computer interaction sensing glove based on 3D printing and its printing method. The sensing glove includes a flexible substrate layer, conductive coils, and a magnetic polymer layer. The flexible substrate layer is a wearable flexible substrate glove integrally formed by 3D printing. The magnetic polymer layer is formed by 3D printing in the thumb area of ​​the flexible substrate glove. The conductive coils are formed by 3D printing in the other finger areas of the flexible substrate glove. During operation, the magnetic polymer layer in the thumb area moves relative to the conductive coils in the other finger areas, causing a change in the magnetic flux through the conductive coils, thereby generating characteristic electrical signals. This invention can generate characteristic electrical signals through the relative movement of the conductive coils and the magnetic polymer, and wirelessly transmit these characteristic electrical signals to an external terminal device, enabling gesture recognition and human-computer interaction even in non-visual environments.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction technology, and more specifically, relates to a self-powered human-computer interaction sensing glove based on 3D printing and its printing method. Background Technology

[0002] Human-computer interaction (HCI) devices offer the possibility of converting human gestures into electrical signals for machine communication and have recently emerged as promising platforms for virtual reality, healthcare, physical therapy, training, and entertainment. Currently, camera-based visual recognition systems, gyroscopes, and triboelectric nanogenerators are three typical HCI devices. For visual recognition systems, the camera must be fixed in front of the user, meaning that its use and portability are inconvenient, and the user's movement space is limited. Especially in extreme environments outside the atmosphere, such as underwater divers, firefighters in smoke, or other situations where visual perception is impaired, light transmission is significantly disrupted by the surrounding environment, causing visual recognition systems used for HCI to fail. Gyroscopes, due to their bulky size, are difficult to use in extreme environments. As for triboelectric nanogenerators, although they are flexible in use, self-powered, capable of typing input, and can achieve real-time voice broadcasting, in non-visual environments, droplets / dust can hinder the generation of surface charges, causing them to malfunction.

[0003] Furthermore, the force feedback mechanisms of existing wearable human-computer interaction devices are too simplistic, generally requiring external driving devices and relying on tactile or force feedback for human-computer interaction. For example, patent CN109157283A discloses an interactive flexible glove system that uses flexible electrodes to drive fluid for feedback control. This system includes a glove body and a tactile feedback device mounted on the glove body. The tactile feedback device includes an output end, a conduit, and a driving end. The driving end has a compressible cavity containing fluid, and the cavity is connected to the output end via the conduit. When the cavity is compressed, the internal fluid is forced to the output end, thus outputting pressure to the user's hand. This invention is based on Maxwell's force-driven fluid medium method to achieve equivalent volume transfer, controlling displacement changes with an electric field, moving from point-driven arrays to surface-driven arrays, thereby achieving tactile feedback. However, this device has a complex structure and is difficult to apply in deep-water applications.

[0004] Currently, newly emerging flexible magnetoelectric sensors can be used as self-powered sensors and energy harvesters. The working mechanism of these sensors is based on the mutual movement between their magnetic and conductive coil components, which changes the magnetic flux through the coil. According to Faraday's law of electromagnetic induction, the changing magnetic flux in the closed coil generates an induced electromotive force, thus enabling the generation and transmission of electrical signals. Because this signal generation method does not rely on mutual contact or optical interactions, it can achieve the conversion between mechanical and electrical signals even in non-visual environments. However, the traditional fabrication of flexible magnetoelectric devices typically involves two steps: the individual molding process of different components and the assembly of these components to obtain the final device. This manufacturing process is cumbersome, the molding equipment has a complex structure, and the assembled device is prone to structural defects, resulting in significant material costs and wasted human resources. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a self-powered human-computer interaction sensing glove based on 3D printing and its printing method, which mainly solves the problems of existing human-computer interaction devices having a limited application environment, being unable to be self-powered, and having a complex structure.

[0006] To achieve the above objectives, this invention provides a self-powered human-machine interaction sensing glove based on 3D printing. The sensing glove includes a flexible substrate layer, conductive coils, and a magnetic polymer layer. The flexible substrate layer is a wearable flexible substrate glove integrally formed by ink direct writing 3D printing. The magnetic polymer layer is formed in the thumb area of ​​the flexible substrate glove by ink direct writing 3D printing. The conductive coils are formed in the other finger areas of the flexible substrate glove by ink direct writing 3D printing. During operation, based on a preset gesture, the magnetic polymer layer in the thumb area moves relative to the conductive coils in the other finger areas, causing a change in the magnetic flux through the conductive coils, thereby generating a characteristic electrical signal corresponding to the preset gesture.

[0007] Furthermore, the conductive coil has 1 to 5 turns; preferably, the outermost diameter of the conductive coil is 5 mm to 12 mm; more preferably, the conductive coil is made of metallic ink, which includes gallium-based liquid metal and thermosetting liquid silicone; even more preferably, the mass ratio of the metallic ink is: 60 to 90 parts of gallium-based liquid metal and 10 to 40 parts of thermosetting liquid silicone.

[0008] Furthermore, the dimensions of the magnetic polymer layer are: 8mm-12mm in length and 8mm-12mm in width; preferably, the thickness of the magnetic polymer layer is 1mm-5mm; more preferably, the magnetic polymer layer is made of magnetic ink, which includes magnetic powder, thermosetting liquid silicone, and fumed silica; even more preferably, the mass ratio of the magnetic ink is: 20-70 parts of magnetic powder, 30-70 parts of thermosetting liquid silicone, and 1-10 parts of fumed silica.

[0009] Furthermore, the flexible base glove is made of transparent ink, which includes UV-curable resin and fumed silica; preferably, the mass ratio of the transparent ink is 85-95 parts UV-curable resin and 5-15 parts fumed silica.

[0010] Furthermore, an eight-channel voltmeter is connected to the conductive coil. The eight-channel voltmeter is used to transmit characteristic electrical signals to an external terminal device for gesture recognition.

[0011] According to another aspect of the present invention, a method for printing a self-powered human-machine interaction sensing glove based on 3D printing as described in any of the preceding embodiments is also provided, the printing method comprising:

[0012] S1. Prepare transparent ink, metallic ink and magnetic ink, and output the three through the three ink extrusion heads of the ink direct writing 3D printing integrated device;

[0013] S2. Using transparent ink to print flexible substrate gloves with the assistance of ultraviolet light curing;

[0014] S3. Under the assistance of infrared light heating and curing, conductive coils on the four fingers (excluding the thumb) of the flexible substrate glove are printed with metallic ink.

[0015] S4. With the assistance of infrared light heating and curing, magnetic ink is used to print a magnetic polymer layer on the thumb to obtain a sensor glove.

[0016] S5. Print a layer of transparent ink on the sensing glove to encapsulate the sensing glove;

[0017] S6. Apply pressure to the conductive coil on the encapsulated sensing glove to connect the separated liquid metal particles in the conductive coil to make them conductive.

[0018] S7. Magnetize the magnetic polymer layer on the encapsulated sensing glove to obtain a self-powered sensing glove.

[0019] Furthermore, prior to step S1, the method for preparing the transparent ink includes:

[0020] A first mixture is obtained by stirring a certain mass ratio of ultraviolet-curable resin and fumed silica at a first rate for a first time; the first mixture is then centrifuged in a centrifuge to obtain a transparent ink; preferably, the first rate is 1000 r / min-2500 r / min; the first time is 5 min-15 min; the centrifugation rate of the first mixture is 2000 r / min-3000 r / min; and the centrifugation time of the first mixture is 3 min-10 min.

[0021] Furthermore, prior to step S1, the method for preparing the metallic ink includes:

[0022] A second mixture is obtained by stirring thermosetting liquid silicone and gallium-based liquid metal in a preset mass ratio at a second rate for a second time; the second mixture is then centrifuged in a centrifuge to obtain metallic ink; preferably, the second rate is 1000 r / min-2500 r / min; the second time is 5 min-15 min; the centrifugation rate of the second mixture is 2000 r / min-3000 r / min; and the centrifugation time of the second mixture is 3 min-10 min.

[0023] Furthermore, prior to step S1, the method for preparing the magnetic ink includes:

[0024] A third mixture is obtained by stirring thermosetting liquid silica gel, magnetic powder, and fumed silica in a preset mass ratio at a third rate for a third time. The third mixture is then centrifuged to obtain magnetic ink. Preferably, the third rate is 1000 r / min-2500 r / min; the third time is 5 min-15 min; the centrifugation rate of the third mixture is 2000 r / min-3000 r / min; and the centrifugation time of the third mixture is 3 min-10 min.

[0025] Furthermore, a pressure of 5 kPa-10 kPa is applied to the conductive coil; even further, the voltage for magnetizing the magnetic polymer layer on the sensing glove is 1500 v-1900 v.

[0026] Compared with the prior art, the above technical solutions conceived by this invention have the following main advantages:

[0027] 1. The self-powered sensing wearable device of the present invention utilizes 3D printing technology to sequentially and integrally print a glove-shaped flexible base layer, conductive coils located at the four fingers, and a magnetic polymer layer located at the thumb. During operation, the magnetic polymer layer moves relative to the conductive coils in the other finger areas, thereby changing the magnetic flux through the conductive coils and generating characteristic electrical signals. These characteristic electrical signals are then wirelessly transmitted to a terminal device to achieve gesture recognition and human-computer interaction. The self-powered sensing wearable device of the present invention does not require external driving devices such as motors, is not limited by usage scenarios, and utilizes 3D printing technology for rapid prototyping, resulting in higher manufacturing efficiency.

[0028] 2. The self-powered sensing wearable device of the present invention is manufactured through an integrated ink strategy applicable to multiple materials. The transparent ink material for printing the flexible base layer in the shape of a glove is a mixture of ultraviolet-curable resin and fumed silica. The printed gloves have waterproof and smoke-proof properties, are flexible and stretchable, and are non-toxic and harmless, making them suitable for human wear.

[0029] 3. The self-powered sensing wearable device of the present invention uses metallic ink for printing conductive coils, comprising a certain mass ratio of gallium-based liquid metal and thermosetting liquid silicone. The printed conductive coils exhibit good conductivity when pressure is applied, without the need for other complex preparation processes. Magnetic ink for printing magnetic polymer layers comprises a certain mass ratio of magnetic powder, thermosetting liquid silicone, and fumed silica. The printed magnetic polymer layers exhibit good magnetism after being magnetized. Different component mass ratios result in different rheological properties of the inks. Within a certain range, the higher the content of liquid metal or magnetic powder in the ink, the more suitable the ink's rheological properties are for direct-write printing. However, when the content of liquid metal or magnetic powder in the ink is too high, the ink will be difficult to flow, making it difficult to print. Furthermore, a higher liquid metal content results in better conductivity of the printed product, and a higher magnetic powder content results in greater residual magnetism after magnetization, thereby generating a larger electrical signal.

[0030] 4. In the self-powered sensing wearable device of the present invention, the conductive coil has 1 to 5 turns, the outermost diameter of the conductive coil is 5mm to 12mm, the magnetic polymer layer is a rectangle with a length of 8mm to 12mm and a width of 8mm to 12mm, and the thickness of the magnetic polymer layer is 1mm to 5mm. The purpose of setting this size is to make the coil adapt to the size of a human finger. If it is smaller than this size, the generated induced electrical signal will be relatively small and the signal characteristics will not be obvious; if it exceeds this size, the coil is too large and cannot fit the human finger.

[0031] 5. The method for forming the self-powered sensing device of the present invention combines direct ink writing additive technology with human-computer interaction to realize rapid additive manufacturing of wearable devices with human-computer interaction. Moreover, the sensing device of the present invention can realize a self-powered unit through 3D printing without other preparation processes, and has the advantages of high preparation efficiency and good functionality of the prepared device.

[0032] 6. In the preparation process of the transparent ink, liquid metal ink and magnetic ink of the present invention, different stirring rates, stirring times, centrifugation rates and centrifugation times are respectively used. Different preparation process parameters are selected because the design of such values ​​can enable the corresponding inks to have better solid dispersion uniformity, better rheology and printability.

[0033] 7. In the printing method of the present invention, the pressure applied to the printed conductive coil is 5KPa-10KPa. Under this pressure, the conductivity and mechanical properties of the conductive coil are better. If it is less than 5KPa, the separated liquid metal particles cannot be connected together, and thus there is no conductivity. If it is greater than 10KPa, the structure of the conductive coil will be completely destroyed, causing it to lose its stretchability, or even break it.

[0034] 8. In the printing method of the present invention, the voltage for magnetizing the magnetic polymer layer printed on the sensing glove is 1500V-1900V, which can make the remanence of the magnetic polymer layer larger, thereby making the generated induced electrical signal more obvious; if it is lower than this range, the remanence of the magnetic polymer layer will be too small, and the generated induced electrical signal will be smaller, or even difficult to distinguish. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the self-powered sensing glove structure printed in Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the sensing principle of the self-powered sensing glove in Embodiment 1 of the present invention;

[0037] Figure 3 This is a schematic diagram illustrating the human-computer interaction and typing function of the self-powered sensor glove in Embodiment 1 of the present invention.

[0038] Figure 4 This is a schematic diagram of signal sensing in a muddy and watery environment using the self-powered sensing glove in Embodiment 2 of the present invention.

[0039] Figure 5 This is a schematic diagram of signal sensing in a smoke environment using a self-powered sensing glove in Embodiment 2 of the present invention.

[0040] In the diagram: 1-flexible substrate, 2-conductive coil, 3-magnetic polymer layer. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0042] like Figure 1 The diagram shows the structure of the self-powered sensing glove printed according to the present invention. The sensing glove includes a flexible base layer 1, conductive coils 2, and a magnetic polymer layer 3. The flexible base layer 1 is a wearable flexible base glove integrally formed by 3D printing. The magnetic polymer layer 3 is formed by 3D printing in the thumb area of ​​the flexible base glove. The conductive coils 2 are formed by 3D printing in the other finger areas of the flexible base glove. During operation, based on a preset gesture, the magnetic polymer layer 3 in the thumb area and the conductive coils 2 in the other finger areas move relative to each other, which changes the magnetic flux through the conductive coils, thereby generating a characteristic electrical signal corresponding to the preset gesture. The characteristic electrical signal is then wirelessly output to an external terminal device through a transmitter connected to the conductive coil. The external terminal device recognizes the corresponding gesture based on the characteristic electrical signal and controls the terminal device to perform the corresponding typing action based on the recognized gesture.

[0043] In a preferred embodiment, the conductive coil 2 has 1 to 5 turns. Due to the limitations of 3D printing precision, more turns would result in an excessively large conductive coil area, making it difficult to fit onto the fingertip.

[0044] In a more preferred embodiment, the outermost diameter of the conductive coil 2 is 5mm-12mm, a size range that is more suitable for wearing on the fingers of children or adults.

[0045] In a more preferred embodiment, the conductive coil 2 is made of metallic ink, which includes gallium-based liquid metal and thermosetting liquid silicone.

[0046] In a more preferred embodiment, the mass ratio of the metal ink is: 60-90 parts of gallium-based liquid metal and 10-40 parts of thermosetting liquid silicone. This ratio enables the prepared liquid metal ink to have better conductivity, as well as better flexibility and stretchability.

[0047] In a preferred embodiment, the magnetic polymer layer 3 has the following dimensions: a length of 8mm-12mm and a width of 8mm-12mm. Compared to other dimensions, this size can maximize the remanence of the magnetic polymer layer while achieving a proper fit between the magnetic polymer and the finger.

[0048] In a preferred embodiment, the thickness of the magnetic polymer layer 3 is 1mm-5mm; the magnetic polymer layer 3 is made of magnetic ink, which includes magnetic powder, thermosetting liquid silicone and fumed silica. The role of fumed silica is to increase the viscosity of the ink material, so that it has better rheological properties, and thus makes it more suitable for direct ink writing printing.

[0049] In a more preferred embodiment, the magnetic ink is formulated with the following mass ratio: 20-70 parts magnetic powder, 30-70 parts thermosetting liquid silicone and 1-10 parts fumed silica, which enables the magnetic ink to have better printing and forming effects and superior mechanical and magnetic properties.

[0050] In a more preferred embodiment, the flexible base layer glove is made of transparent ink, which includes UV-curable resin and fumed silica; the mass ratio of the transparent ink is 85-95 parts of UV-curable resin and 5-15 parts of fumed silica, which enables the resulting transparent ink to have both better rheological properties and superior printability.

[0051] Example 1

[0052] This embodiment provides a self-powered sensing glove based on 3D printing, and its specific manufacturing method is as follows:

[0053] Preparation of transparent ink: 85 parts of Elastic 50A resin and 15 parts of fumed silica were poured into a mechanical stirrer and stirred at 1500 r / min for 15 min. Then, the mixture was centrifuged at 2000 r / min for 5 min to remove air bubbles and obtain transparent ink.

[0054] Preparation of liquid metal ink: Pour 10 parts of polydimethylsiloxane and 90 parts of gallium indium tin liquid metal into a mechanical stirrer according to the formula ratio, stir at 1500 r / min for 5 min-15 min, and then place it in a centrifuge at 2000 r / min for 5 min to fully remove air bubbles and obtain liquid metal ink;

[0055] Preparation of magnetic ink: 30 parts of polydimethylsiloxane, 60 parts of 2000-mesh neodymium iron boron and 10 parts of fumed silica were poured into a mechanical stirrer in a certain proportion and stirred at 2000 r / min for 15 min. Then, the mixture was placed in a centrifuge and centrifuged at 2000 r / min for 5 min to remove air bubbles and obtain magnetic ink.

[0056] The three inks mentioned above were placed into the three ink extrusion heads of the three-extrusion ink direct writing device, and the power density was 20W / cm³. 2A flexible substrate layer in the shape of a glove was printed under ultraviolet light at an extrusion speed of 0.6 mm / s and a needle movement speed of 2 mm / s.

[0057] Then at 35W / cm 2 Under infrared irradiation, conductive coils on four fingers were printed at an extrusion speed of 0.3 mm / s and a needle movement speed of 1 mm / s. The coils had three turns and the outermost diameter was 10 mm.

[0058] Then at 30W / cm 2 The magnetic polymer layer on the thumb was printed under infrared irradiation at an extrusion speed of 0.3 mm / s and a needle movement speed of 1 mm / s. The dimensions were 12 mm long, 12 mm wide, and 3 mm high.

[0059] Finally, at a power density of 20W / cm² 2 Under ultraviolet light irradiation, a layer of transparent ink is printed at an extrusion speed of 0.6 mm / s and a needle movement speed of 2 mm / s to encapsulate the entire sensing glove. By applying a pressure of 10 kPa to the four conductive coils, the conductive coils are made conductive. The magnetic polymer of the thumb is placed in a magnetizer to be magnetized at a magnetization voltage of 1800V, giving it permanent magnetism. Through the above steps, the final self-powered sensing glove is obtained.

[0060] During operation, the self-powered sensing gloves were worn on the subject's hands, and then coils in the four finger areas were connected to an eight-channel voltmeter with a Bluetooth transmission module (i.e., Figure 2 The transmitter in the multi-channel voltmeter has a built-in Bluetooth transmission module, which can transmit the generated electrical signals to the terminal computer wirelessly. Its self-powered human-computer interaction principle is based on Faraday's law of electromagnetic induction, such as... Figure 2 As shown, when the thumb with the magnetic polymer layer moves relative to the finger with the conductive coil, the magnetic flux through the conductive coil will change, resulting in an induced voltage. Therefore, the multi-channel voltmeter set on the user's wrist can transmit electrical signals to the terminal device.

[0061] from Figure 3As can be seen, different gestures will generate different characteristic electrical signals. Fifteen different gestures are preset to correspond to 15 characteristic electrical signals. When extracting the signal features of these 15 characteristic electrical signals, each gesture is repeated 200 times, and 150 of these gesture signals are randomly extracted for machine learning (the machine learning algorithm used in this embodiment is a machine learning algorithm commonly used by those skilled in the art). This allows the 15 signal features to be trained to correspond one-to-one with the 15 function keys in the nine-key input method of a computer terminal. Then, the accuracy is verified using the remaining 50 repeated gestures for each gesture. In this embodiment, the verification accuracy of machine learning is above 96%. Therefore, experimenters can activate different function keys on an external terminal device by making different gestures in a non-visual environment, and achieve text input on the external terminal device through combinations of different gestures, thus realizing human-computer interaction.

[0062] Example 2

[0063] This embodiment provides a self-powered sensing glove, the preparation method of which is as follows:

[0064] (1) Pour 90 parts of Elastic 80A resin and 10 parts of fumed silica into a mechanical stirrer and stir at 2000 r / min for 10 min. Then place it in a centrifuge and centrifuge at 3000 r / min for 3 min to remove air bubbles and obtain transparent ink.

[0065] 14 parts of Ecoflex thermosetting liquid silicone and 86 parts of gallium indium liquid metal were poured into a mechanical stirrer according to the formula ratio and stirred at 2000 r / min for 10 min. Then, the mixture was placed in a centrifuge and centrifuged at 3000 r / min for 5 min to remove air bubbles and obtain liquid metal ink.

[0066] 20 parts of Ecoflex thermosetting liquid silica gel, 70 parts of NdFeB magnetic powder with a particle size of 400 mesh and 10 parts of fumed silica were poured into a mechanical stirrer in a certain proportion and stirred at 2000 r / min for 10 min. Then, the mixture was placed in a centrifuge and centrifuged at 3000 r / min for 5 min to remove air bubbles and obtain magnetic ink.

[0067] (2) Place the three inks mentioned above into the three ink extrusion heads of the ink direct writing 3D printing integrated equipment, and run them at a power density of 25W / cm³. 2 A flexible substrate layer with a glove shape was printed under ultraviolet light irradiation at an extrusion speed of 0.8 mm / s and a needle movement speed of 2 mm / s.

[0068] Then at 30W / cm 2Conductive coils for four fingers were printed under infrared irradiation at an extrusion speed of 0.2 mm / s and a needle movement speed of 0.7 mm / s. Each coil had five turns, with the outermost coil having a diameter of 12 mm. The printing was then performed at 26 W / cm². 2 The magnetic part on the thumb was printed under infrared irradiation at an extrusion speed of 0.2 mm / s and a needle movement speed of 0.7 mm / s. The dimensions were 12 mm long, 12 mm wide, and 3 mm high.

[0069] Finally, at a power density of 25W / cm² 2 A layer of transparent ink was printed under ultraviolet light at an extrusion speed of 0.8 mm / s and a needle movement speed of 2 mm / s to encapsulate the entire sensing glove. Conductivity was imparted to the four conductive coils by applying a pressure of 8 kPa. The magnetic polymer of the thumb was then magnetized in a magnetizer at a magnetization voltage of 1700 V, thus giving it permanent magnetism.

[0070] The self-powered sensor gloves are obtained through the above steps.

[0071] (3) The obtained self-powered sensing glove was put on the subject's hand, and then the wire coils of the four finger areas were connected to an eight-channel voltmeter via cables (i.e., Figure 2 The transmitter in the device wirelessly transmits the generated electrical signals to a tablet computer to test the sensing capabilities of the self-powered sensing glove in water and smoke. Figure 4 and Figure 5 As shown, the self-powered sensing glove of this embodiment can also work normally in muddy or smoky environments, and all four conductive coils can generate electrical signals (i.e., C1, C2, C3 and C4 in the figure).

[0072] Example 3

[0073] This embodiment provides a self-powered sensing glove, the preparation method of which is as follows:

[0074] (1) Pour 95 parts of Elastic 80A resin and 5 parts of fumed silica into a mechanical stirrer and stir at 1750 r / min for 15 min. Then place it in a centrifuge and centrifuge at 2500 r / min for 5 min to remove air bubbles and obtain transparent ink.

[0075] 14 parts of Ecoflex thermosetting liquid silicone and 86 parts of gallium indium liquid metal were poured into a mechanical stirrer according to the formula ratio and stirred at 2500 r / min for 10 min. Then, the mixture was placed in a centrifuge and centrifuged at 2750 r / min for 10 min to remove air bubbles and obtain liquid metal ink.

[0076] 25 parts of polydimethylsiloxane, 65 parts of neodymium iron boron magnetic powder with a particle size of 2500 mesh and 10 parts of fumed silica were poured into a mechanical stirrer in a certain proportion and stirred at 2500 r / min for 10 min. Then, the mixture was placed in a centrifuge and centrifuged at 3000 r / min for 5 min to remove air bubbles and obtain magnetic ink.

[0077] (2) The above three inks are respectively filled into the three ink extrusion heads of the ink direct writing 3D printing integrated equipment, and the power density is 23W / cm³. 2 A flexible substrate layer with a glove shape was printed under ultraviolet light irradiation at an extrusion speed of 0.75 mm / s and a needle movement speed of 1.8 mm / s.

[0078] Then at 35W / cm 2 Conductive coils for four fingers were printed under infrared irradiation at an extrusion speed of 0.225 mm / s and a needle movement speed of 0.75 mm / s. Each coil had seven turns, with the outermost coil having a diameter of 12 mm. The printing was then performed at 26 W / cm². 2 The magnetic part on the thumb was printed under infrared irradiation at an extrusion speed of 0.2 mm / s and a needle movement speed of 0.7 mm / s, with dimensions of 12 mm in length, 12 mm in width, and 3 mm in height.

[0079] Finally, at a power density of 30W / cm² 2 A layer of transparent ink was printed under ultraviolet light at an extrusion speed of 1 mm / s and a needle movement speed of 2.5 mm / s to encapsulate the entire sensing glove. Conductivity was imparted to the four conductive coils by applying a pressure of 7 kPa. The magnetic polymer of the thumb was then magnetized in a magnetizer at a magnetization voltage of 1750 V, giving it permanent magnetism.

[0080] The self-powered sensing glove of this embodiment is obtained through the above steps.

[0081] Example 4

[0082] This embodiment provides a self-powered sensing glove, the manufacturing method of which is as follows:

[0083] (1) Pour 92 parts of Anycubic toughness resin and 8 parts of fumed silica into a mechanical stirrer and stir at 2000 r / min for 8 min. Then place it in a centrifuge and centrifuge at 2800 r / min for 4 min to remove air bubbles and obtain transparent ink.

[0084] 20 parts of polydimethylsiloxane and 80 parts of gallium indium liquid metal were poured into a mechanical stirrer according to the formula ratio and stirred at 1800 r / min for 10 min. Then, the mixture was placed in a centrifuge and centrifuged at 2800 r / min for 8 min to remove air bubbles and obtain liquid metal ink.

[0085] 30 parts of polydimethylsiloxane, 65 parts of neodymium iron boron magnetic powder with a particle size of 1200 mesh and 5 parts of fumed silica were poured into a mechanical stirrer in a certain proportion and stirred at 3000 r / min for 8 min. Then, the mixture was placed in a centrifuge and centrifuged at 3000 r / min for 3 min to remove air bubbles and obtain magnetic ink.

[0086] (2) Place the above three inks into the three ink extrusion heads of the ink direct writing 3D printing integrated equipment, respectively, at a power density of 22W / cm³. 2 A flexible substrate layer with a glove shape was printed under ultraviolet light irradiation at an extrusion speed of 0.45 mm / s and a needle movement speed of 1.2 mm / s, and then subjected to 40 W / cm² pressure. 2 Under infrared irradiation, conductive coils on four fingers were printed at an extrusion speed of 0.3 mm / s and a needle movement speed of 2 mm / s. The coils had three turns, with the outermost coil having a diameter of 9 mm.

[0087] Then at 26W / cm 2 The magnetic part on the thumb was printed under infrared irradiation at an extrusion speed of 0.2 mm / s and a needle movement speed of 0.7 mm / s, with dimensions of 10 mm in length, 8 mm in width, and 5 mm in height.

[0088] Finally, at a power density of 25W / cm² 2 A layer of transparent ink was printed under ultraviolet light at an extrusion speed of 1 mm / s and a needle movement speed of 2.5 mm / s to encapsulate the entire sensing glove. The coils were made conductive by applying a pressure of 10 kPa to the four conductive coils, and the magnetic polymer of the thumb was magnetized in a magnetizer with a magnetization voltage of 1600 V to give it permanent magnetism. The self-powered sensing glove was obtained through the above steps.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-powered human-computer interaction sensing glove based on 3D printing, characterized in that, The sensing glove comprises a flexible substrate layer, conductive coils, and a magnetic polymer layer. The flexible substrate layer is a wearable flexible substrate glove integrally formed using transparent ink direct-write 3D printing with UV curing assistance. The magnetic polymer layer is formed using magnetic ink direct-write 3D printing on the thumb area of ​​the flexible substrate glove with infrared heating curing assistance. The conductive coils are formed using metallic ink direct-write 3D printing on the other finger areas of the flexible substrate glove with infrared heating curing assistance. A layer of transparent ink is also printed on the wearable flexible substrate glove for encapsulation. The encapsulated conductive coils are conductive under pressure, and the magnetic polymer layer is magnetic when magnetized. During operation, based on a preset gesture, the magnetic polymer layer in the thumb area moves relative to the conductive coils in other finger areas, causing a change in the magnetic flux through the conductive coils, thereby generating a characteristic electrical signal corresponding to the preset gesture.

2. The self-powered human-computer interaction sensing glove based on 3D printing as described in claim 1, characterized in that, The conductive coil has 1 to 5 turns; the outermost diameter of the conductive coil is 5 mm to 12 mm; the metallic ink includes gallium-based liquid metal and thermosetting liquid silicone; the mass ratio of the metallic ink is: 60 to 90 parts gallium-based liquid metal and 10 to 40 parts thermosetting liquid silicone.

3. The self-powered human-computer interaction sensing glove based on 3D printing as described in claim 1, characterized in that, The magnetic polymer layer has the following dimensions: length 8mm-12mm, width 8mm-12mm; thickness 1mm-5mm; the magnetic ink comprises magnetic powder, thermosetting liquid silicone, and fumed silica; the mass ratio of the magnetic ink is: 20-70 parts magnetic powder, 30-70 parts thermosetting liquid silicone, and 1-10 parts fumed silica.

4. The self-powered human-computer interaction sensing glove based on 3D printing as described in claim 1, characterized in that, The transparent ink comprises a UV-curable resin and fumed silica; the mass ratio of the transparent ink is 85-95 parts UV-curable resin and 5-15 parts fumed silica.

5. The self-powered human-computer interaction sensing glove based on 3D printing as described in claim 1, characterized in that, An eight-channel voltmeter is also connected to the conductive coil. The eight-channel voltmeter is used to transmit characteristic electrical signals to an external terminal device for gesture recognition.

6. A printing method for a self-powered human-computer interaction sensing glove based on 3D printing as described in any one of claims 1-5, characterized in that, The printing method includes: S1. Prepare transparent ink, metallic ink and magnetic ink, and output the three through the three ink extrusion heads of the ink direct writing 3D printing integrated device; S2. Using transparent ink to print flexible substrate gloves with the assistance of ultraviolet light curing; S3. Under the assistance of infrared light heating and curing, conductive coils on the four fingers (excluding the thumb) of the flexible substrate glove are printed with metallic ink. S4. With the assistance of infrared light heating and curing, magnetic ink is used to print a magnetic polymer layer on the thumb to obtain a sensor glove. S5. Print a layer of transparent ink on the sensing glove to encapsulate the sensing glove; S6. Apply pressure to the conductive coil on the encapsulated sensing glove to connect the separated liquid metal particles in the conductive coil to make them conductive. S7. Magnetize the magnetic polymer layer on the encapsulated sensing glove to obtain a self-powered sensing glove.

7. The printing method for a self-powered human-computer interaction sensing glove based on 3D printing as described in claim 6, characterized in that, The transparent ink is prepared by the following method: A first mixture is obtained by stirring UV-curable resin and fumed silica in a preset mass ratio at a first rate for a first time; the first mixture is then centrifuged in a centrifuge to obtain transparent ink; the first rate is 1000 r / min-2500 r / min; the first time is 5 min-15 min; the centrifugation rate of the first mixture is 2000 r / min-3000 r / min; and the centrifugation time of the first mixture is 3 min-10 min.

8. The printing method for a self-powered human-computer interaction sensing glove based on 3D printing as described in claim 6, characterized in that, The metallic ink is prepared using the following method: A second mixture is obtained by stirring thermosetting liquid silica gel and gallium-based liquid metal in a preset mass ratio at a second rate for a second time; the second mixture is then centrifuged in a centrifuge to obtain metallic ink; the second rate is 1000 r / min-2500 r / min; the second time is 5 min-15 min; the centrifugation rate of the second mixture is 2000 r / min-3000 r / min; and the centrifugation time of the second mixture is 3 min-10 min.

9. A printing method for a self-powered human-computer interaction sensing glove based on 3D printing as described in claim 6, characterized in that, The magnetic ink is prepared using the following method: A third mixture is obtained by stirring thermosetting liquid silica gel, magnetic powder, and fumed silica in a preset mass ratio at a third speed for a third time. The third mixture is then centrifuged to obtain magnetic ink. The third speed is 1000 r / min-2500 r / min. The third time is 5 min-15 min. The centrifugation speed of the third mixture is 2000 r / min-3000 r / min. The centrifugation time of the third mixture is 3 min-10 min.

10. The printing method for a self-powered human-computer interaction sensing glove based on 3D printing as described in claim 6, characterized in that, In step S6, a pressure of 5 kPa-10 kPa is applied to the conductive coil; the voltage for magnetizing the magnetic polymer layer on the sensing glove is 1500 v-1900 v.

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