Method for acquiring magnitude and direction of shear force based on flexible magnetized cilium film

Abstract

This invention discloses a method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film. The method first acquires the change in the spatial magnetic field signal caused by the displacement of the cilia on the flexible magnetized fibrous film after applying a shear force; then, it obtains the magnitude and direction of the applied shear force based on the change in the spatial magnetic field signal. This method applies a shear force to the flexible magnetized cilia, causing a disturbance in the spatial magnetic field, and obtains the magnitude and direction of the shear force based on the captured magnetic field strength. This method achieves simultaneous acquisition of the direction and magnitude of the shear force through wireless, passive ternary coupling, and is simple, easy to operate, has low interference, and high accuracy.

Description

Technical Field

[0001] This invention belongs to the field of shear force magnitude and direction recognition technology, and relates to a method for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film. Background Technology

[0002] Flexible shear force sensors can be integrated with irregular curved surfaces and have real-time monitoring capabilities, thus gaining significant attention in human-computer interaction, intelligent robotics, health monitoring, and other related fields. Shear force sensors have a wide range of applications, including fluid dynamics (airflow, water flow), tactile feedback (texture recognition, slip detection), and other identification methods, providing strong support for the development of biomedicine, intelligent sensing, and other fields. With further development in application areas, researchers have gradually realized that the information represented by the direction and magnitude of shear force varies but is equally important in different application environments. Its directional component contains information about the relative motion between two contacting objects but is often overlooked by researchers. For example, changes in the direction of shear stress on the vessel wall caused by blood flow in a blood vessel may indicate the occurrence of diseases such as thrombosis; the direction of air pressure represents the direction of wind; the magnitude and direction of the shear force generated by friction between a prosthesis and residual limb play a crucial role in verifying the fit of the prosthesis; and the magnitude and direction of shear force in a fluid can provide information such as flow state, viscosity, and velocity. This sensitive identification of the magnitude and direction of shear force is crucial for accurate signal measurement; it is known as "decoupling" and plays a vital role in more accurately determining the various properties of an object in the detection environment.

[0003] However, due to the indistinguishable performance of sensor mechanisms and designs, research on simultaneously detecting the magnitude and direction of shear force in a single sensing system is rarely reported. To address this, some researchers have developed flexible force sensors with anisotropic structures to identify specific directions, but their directional resolution is relatively limited, only able to distinguish two directions, and unable to decouple force and direction changes in ternary or more complex systems (Chen, D.; Liu, Z.; Li, Y.; Sun, D.; Liu, X.; Pang, J.; Liu, H.; Zhou, W., Unsymmetrical Alveolate PMMA / MWCNT Film as a Piezoresistive E-Skin with Four-Dimensional Resolution and Application for Detecting Motion Direction and Airflow Rate. Acs Appl Mater Inter 2020). Furthermore, existing array sensors, when facing the challenge of coupling the magnitude and direction of shear force, require increased sensor manufacturing costs, involve cumbersome electrical component connections, introduce potential interference points, and affect test accuracy.

[0004] Magnetic-based sensors, due to their vector characteristics and wireless passive advantages, have become a promising approach for simultaneously decoupling the magnitude and direction of shear force. Cilia are highly sensitive structures in nature, enabling organisms to sensitively detect subtle changes in the external environment. Inspired by this, researchers have combined flexible magnetic cilia arrays with electromagnetic induction coils to fabricate highly sensitive wireless, self-powered magnetic sensing devices, which can be applied to fields such as 3D shape recognition and high-capacity communication (Zhou, Q.; Ji, B.; Hu, F.; Dai, Z.; Ding, S.; Yang, H.; Zhong, J.; Qiao, Y.; Zhou, J.; Luo, J.; Zhou, B., Magnetized Microcilia Array-Based Self-Powered Electronic Skin for Micro-Scaled 3DMorphology Recognition and High-capacity Communication. Advanced Functional Materials 2022, 2208120). The detection principle of this flexible magnetic fiber array is based on the induced electromotive force generated in the electromagnetic induction coil due to the bending and deflection of the magnetic fibers. The greater the bending, the greater the induced electromotive force. However, this device cannot determine the direction of the force on the magnetic fibers. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a method for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film, thereby solving the technical problem that the magnitude and direction of shear force cannot be identified simultaneously in the prior art.

[0006] This invention is achieved through the following technical solution:

[0007] A method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film includes the following steps:

[0008] The change in the spatial magnetic field signal caused by the change in the displacement of cilia on a flexible magnetized cilia film after shear force is applied was obtained.

[0009] The magnitude and direction of the applied shear force are obtained based on the changes in the spatial magnetic field signal.

[0010] Preferably, the spatial magnetic field signal change includes spatial magnetic field signal change on the x-axis, spatial magnetic field signal change on the y-axis, and spatial magnetic field signal change on the z-axis; the magnitude of the shear force is obtained through the spatial magnetic field signal change on the z-axis, and the direction of the shear force is obtained through the spatial magnetic field signal change on the x-axis or the spatial magnetic field signal change on the y-axis.

[0011] Preferably, the magnitude of the shear force is obtained based on the first model, and the direction of the shear force is obtained based on the second or third model;

[0012] The first model is

[0013] F z =z1B z -z2

[0014] The second model is

[0015]

[0016] The third model is

[0017]

[0018] In the formula, B x B y And B z The spatial magnetic field signal changes along the x-axis, y-axis, and z-axis are respectively represented by F. x F y F represents the direction in which the shear force is applied. z The magnitude of the applied shear force is pi, α is the ratio of the triaxial bias voltage to the triaxial magnetic field strength of the triaxial magnetic sensor, and z1, z2, x1, x2, x3, x4, y1, y2, y3, and y4 are all constants.

[0019] A system for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film, comprising:

[0020] The data acquisition unit is used to acquire the change in spatial magnetic field signal caused by the change in the displacement of cilia on the flexible magnetized cilia film after shear force is applied.

[0021] A data processing unit is used to obtain the magnitude and direction of the applied shear force based on the changes in the spatial magnetic field signal.

[0022] A terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0023] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0024] A device for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film, used to implement the method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film as described in claim 1, comprising a flexible magnetized fibrous film and a triaxial magnetic sensing component, wherein the triaxial magnetic sensing component is disposed within the magnetic field range of the flexible magnetized fibrous film.

[0025] The triaxial magnetic sensing component is electrically connected to a microcontroller.

[0026] Preferably, the flexible magnetized fiber film is arranged perpendicularly to the triaxial magnetic sensing component, and the vertical distance between the flexible magnetized fiber film and the triaxial magnetic sensing component is less than 15cm.

[0027] Preferably, the length of the cilia on the flexible magnetized fibrous film is 0.5-5 mm, the aspect ratio is (2-8):1, and the number of cilia is 1-50.

[0028] The above-mentioned device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film has applications in the fields of biomedicine and intelligent sensing.

[0029] Compared with the prior art, the present invention has the following beneficial technical effects:

[0030] This invention discloses a method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film. The method applies shear force to the magnetic fibrous material, causing a change in the spatial magnetic field, which is captured by a triaxial sensor. The magnitude and direction of the shear force are then obtained based on the changing triaxial magnetic field strength. This method achieves simultaneous acquisition of the direction and magnitude of the shear force through wireless, passive ternary coupling. The method is simple, easy to operate, has low interference, and high accuracy.

[0031] This invention also provides a device for acquiring the magnitude and direction of shear force based on a flexible magnetized fibrous film, used to realize the aforementioned method for synchronously acquiring the magnitude and direction of shear force based on a flexible magnetized fibrous film. The device includes a flexible magnetized fibrous film and a triaxial magnetic sensing component, wherein the triaxial magnetic sensing component is disposed within the magnetic field range of the flexible magnetized fibrous film; a microcontroller is electrically connected to the triaxial magnetic sensing component. In this device, the flexible magnetized fibrous film acts as a source of magnetic signals. When an external shear force is applied to the flexible magnetized fibrous film, the magnetic material on the fibrous fibers will be displaced in space. The displacement of the magnetic material in the fibrous fibers will disturb the spatial magnetic field, converting the force signal into a change in the spatial magnetic signal. This change is captured by the triaxial magnetic sensing component and outputs a triaxial bias voltage. By analyzing the triaxial bias voltage through the microcontroller, the triaxial magnetic field strength can be obtained, and thus the magnitude and direction of the applied shear force can be acquired.

[0032] Furthermore, the flexible magnetized fiber film is arranged perpendicularly to the triaxial magnetic sensing component, and the vertical distance between the flexible magnetized fiber film and the triaxial magnetic sensing component is less than 15cm, which can effectively improve the sensitivity of the test.

[0033] Furthermore, the length of the cilia on the flexible magnetized fibrous film is 0.5-5 mm, the aspect ratio is (2-8):1, and the number of cilia is 1-50, which can adjust the sensing range of the sensor. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating a method for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film in this invention.

[0036] Figure 2 This is a schematic diagram of the structure of a system for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film in this invention;

[0037] Figure 3 This is a side view schematic diagram of a device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film according to the present invention.

[0038] Figure 4 This is a top view schematic diagram of a device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film according to the present invention;

[0039] Figure 5 This is a front view schematic diagram of a device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film according to the present invention;

[0040] Figure 6 This is a schematic diagram illustrating the principle of a device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film in this invention, which achieves simultaneous acquisition of the magnitude and direction of shear force.

[0041] Figure 7 This image shows the detection results of shear forces of different magnitudes and directions obtained by a device for acquiring the magnitude and direction of shear force based on a flexible magnetized fiber film according to the present invention.

[0042] The components are: 1. Flexible magnetized fiber film, 2. Stage, 3. First bolt, 4. Nut, 5. Housing, 6. Fixing hole, 7. Second bolt, 8. Microcontroller, 9. Triaxial magnetic sensing assembly, 10. Display, 11. PCB board, 12. Microcontroller pins. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0048] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0049] The present invention will now be described in further detail with reference to the accompanying drawings:

[0050] Example 1

[0051] The measurement accuracy and density required in the field of sensing are constantly increasing. While planar sensing detection systems are mature, detection systems for three-dimensional environments still require development and innovation. Based on this, shear force, as a key indicator reflecting the mechanical properties of three-dimensional space, urgently needs an accurate and effective measurement method for quantitative and qualitative detection. However, shear force measurement suffers from an "uncertainty phenomenon" where both direction and magnitude cannot be simultaneously detected. This is because detecting the magnitude of shear force depends on refining the measurement range, while detecting the direction depends on determining the dimension. The required detection standards for these two aspects differ, thus placing different demands on the detection sensitivity of the sensing device, resulting in antagonism in meeting the detection conditions. This invention discloses a method for obtaining the magnitude and direction of shear force based on flexible magnetized cilia, as follows: Figure 1 As shown, it includes the following steps:

[0052] The change in the spatial magnetic field signal caused by the change in the displacement of cilia on a flexible magnetized cilia film after shear force is applied was obtained.

[0053] The magnitude and direction of the applied shear force are obtained based on the changes in the spatial magnetic field signal.

[0054] Specifically, the changes in the spatial magnetic field signal include changes in the spatial magnetic field signal on the x-axis, the y-axis, and the z-axis; the magnitude of the shear force is obtained through the changes in the spatial magnetic field signal on the z-axis, and the direction of the shear force is obtained through the changes in the spatial magnetic field signal on the x-axis or the y-axis.

[0055] In one embodiment of the present invention, the magnitude of the shear force is obtained by a first model, and the direction of the shear force is obtained by a second model or a third model.

[0056] The first model is

[0057] F z =z1B z -z2

[0058] The second model is

[0059]

[0060] The third model is

[0061]

[0062] In the formula, B x B y And B z The spatial magnetic field signal changes along the x-axis, y-axis, and z-axis are respectively represented by F. x F y F represents the direction in which the shear force is applied. z The magnitude of the applied shear force is represented by pi (π), α is the ratio of the triaxial bias voltage to the triaxial magnetic field strength of the triaxial magnetic sensor, and z1, z2, x1, x2, x3, x4, y1, y2, y3, and y4 are all constants. For a specific triaxial magnetic sensor, α is a fixed value. z1, z2, x1, x2, x3, x4, y1, y2, y3, and y4 are all obtained through fitting.

[0063] Example 2

[0064] like Figure 2 As shown, the present invention also discloses a system for obtaining the magnitude and direction of shear force based on flexible magnetized cilia, characterized in that it includes:

[0065] The data acquisition unit is used to acquire the change in spatial magnetic field signal caused by the change in the displacement of cilia on the flexible magnetized cilia film after shear force is applied.

[0066] A data processing unit is used to obtain the magnitude and direction of the applied shear force based on the changes in the spatial magnetic field signal.

[0067] Example 3

[0068] like Figures 3-5 As shown, this invention also provides a device for obtaining the magnitude and direction of shear force based on flexible magnetized fibers, used to implement the aforementioned method for obtaining the magnitude and direction of shear force based on flexible magnetized fibers. The device includes a flexible magnetized fiber film 1 and a triaxial magnetic sensing component 9, wherein the triaxial magnetic sensing component 9 is disposed within the magnetic field range of the flexible magnetized fiber film 1; a microcontroller 8 is electrically connected to the triaxial magnetic sensing component 9. Furthermore, to facilitate the presentation of test results, this invention preferably also connects a display 10 to the microcontroller 8. The flexible magnetized fiber film 1 and the triaxial magnetic sensing component 9 can be in contact or non-contact; the latter expands the application scenarios of the flexible magnetized fiber film, enabling this system to be applied to harsh and complex application scenarios such as water flow monitoring. There is no circuit connection between the flexible magnetized fiber film 1 and the triaxial magnetic sensing component 9. The microcontroller 8 is used to perform data calculation and processing, ultimately displaying the magnitude and direction of the shear force on the display 10. During the connection process of the components, the four interfaces of the triaxial magnetic sensing component 9, namely SCL, SDA, 3.3V, and GND, are connected to the four interfaces of the microcontroller 8, namely A5, A4, 3.3V, and GND, respectively. The four interfaces of the display 10, namely VDD, GND, SCK, and SDA, are connected to the four interfaces of the microcontroller 8, namely 5V, GND, A5, and A4, respectively.

[0069] In addition, to facilitate the fixation of the flexible magnetized fiber film 1, a stage 2 is provided at the bottom of the flexible magnetized fiber film 1. The triaxial magnetic sensing component 9 and the microcontroller 8 are both connected to the PCB board 11 by solder. The PCB board is a Printed Circuit Board. Specifically, the microcontroller 8 is connected to the PCB board 11 through the microcontroller pin 12. In addition, the display 10 is also connected to the PCB board 11 by solder to realize the display of the test structure.

[0070] The flexible magnetized fiber film 1, the triaxial magnetic sensing component 9, the microcontroller 8, the display 10, and the PCB board 11 of this invention are disposed inside the housing 5. The housing 5 has a rectangular hole through which the magnetized fibers of the flexible magnetized fiber film 1 can extend out of the housing 5 for easy application. Preferably, the housing 5 is made of transparent acrylic sheet, which has the advantages of being lightweight, wear-resistant, and transparent. The dimensions of the housing 5 are preferably 96×61×25mm, which is small in size and easy to carry or integrate with other devices. The side plates and the bottom plate of the housing 5 are bonded together with special adhesive, and the cover plate is fixed to the side plates with the first bolt 3 and the nut 4.

[0071] In this invention, the two ends of the PCB board 11 are fixed to the inside of the housing 5 by a first bolt 3 and a second bolt 7, respectively. The first bolt 3 is longer and protrudes from the housing 5, while the second bolt 7 is shorter and is located inside the housing 5. Preferably, the housing 5 is provided with a plurality of fixing holes 6, through which the PCB board 11 is fixed to the inside of the housing 5, and the first bolt 3 is tightened by a nut 4.

[0072] The triaxial magnetic sensing component 9 is preferably a triaxial Hall magnetic sensor. Preferably, the flexible magnetized fibrous film 1 is perpendicularly arranged to the triaxial magnetic sensing component 9, and the vertical distance between the flexible magnetized fibrous film 1 and the triaxial magnetic sensing component 9 is less than 15 cm. This triaxial magnetic sensing component 9 can simultaneously capture the magnetic flux density along three axes in space and perform corresponding decoupling analysis. Its decoupling identification range can reach any force direction from 0 to 360° and a shear force magnitude from 0.7 to 500 mN. This triaxial magnetic sensing component 9 can capture the signal changes of the spatial magnetic field along the x, y, and z axes, thereby deducing the magnitude and direction of the shear force applied to the flexible magnetized fibrous film 1. In this embodiment, the triaxial magnetic sensing component 9 selected is the Melexis MLX90393. The relationship between the spatial magnetic field strength and the triaxial bias voltage of this sensor is as follows:

[0073]

[0074] The magnitude of the shear force is determined using z-axis data. Through fitting, the determination formula and correlation coefficient are as follows:

[0075] F z =-1584.6B z -1.64, R 2 =0.94

[0076] The direction of shear force is determined using data from the x or y axis. Through fitting, the determination formula and correlation coefficient are as follows:

[0077]

[0078]

[0079] In the above formula, x, y, and z are the triaxial bias voltage readings of the triaxial magnetic sensor, respectively, and B... x B y And B z These represent the spatial magnetic field signal changes along the x-axis, y-axis, and z-axis, respectively, i.e., the magnetic field strength F along the x-axis, y-axis, and z-axis. x F y F represents the direction in which the shear force is applied. z R represents the magnitude of the applied shear force, R is the correlation coefficient, and pi is pi (circumference of a circle).

[0080] The purpose of this invention is to provide a device for synchronously acquiring the magnitude and direction of shear force based on flexible magnetized cilia, namely a wireless passive magnetic sensing device with ternary directional decoupling of shear force magnitude and direction. This sensing device consists of a flexible magnetized cilia film 1, a triaxial magnetic sensing component 9 integrated into a housing 5, a microcontroller 8, and a display 9. There is no electrical connection between the flexible magnetized cilia film 1 and the rest of the system. The main fabrication process of the flexible magnetized cilia film 1 can be referenced from patent application number 202310977055.7, entitled "A Magnetic Field Induced Self-Assembled Composite Film and Its Preparation Method." In this invention, the cilia on the flexible magnetized cilia film 1 are at a 90° angle to the horizontal direction without external force, allowing direct contact with the external detection environment. The length of the cilia on the flexible magnetized cilia film 1 is 0.5–5 mm, the aspect ratio is (2–8):1, and the number of cilia is 1–50. In the preparation of this flexible magnetized fibrous film 1, an elastomer substrate is selected. The elastomer substrate is a polymeric elastomer or an elastic gel. Preferred polymeric elastomers include polydimethylsiloxane, Ecoflex, and polyurethane, while preferred elastic gels include silk fibroin gel and polyacrylamide gel. The hardness of this elastomer substrate is adjustable, allowing for conformal contact with irregular curved surfaces. The magnetic material in the flexible magnetized fibrous film 1 consists of soft magnetic material particles containing elemental metals such as iron, cobalt, and nickel, and their oxides, or mixed particles of soft and hard magnetic materials such as ferrite and neodymium iron boron. The particle size of the magnetic material is approximately 1–30 micrometers. The Young's modulus of this flexible magnetized fibrous film 1 is flexibly adjustable, allowing for arbitrary stretching and conformal contact with curved surfaces to adapt to different application scenarios.

[0081] In addition, the present invention also discloses the application of the above-mentioned device for synchronously acquiring the magnitude and direction of shear force based on flexible magnetized cilia in the fields of biomedicine and intelligent sensing. Specifically, it can be used for processes such as finger sliding touch, airflow, water flow, etc. that cause cilia to deflect.

[0082] This invention employs a method for assembling magnetic materials using a magnetic field-induced process. The testing principle of this device is as follows: Figure 6 As shown, when the cilia of this device are upright, the spatial magnetic field is in a stable initial state. When a finger touches the cilia and causes them to deflect, it generates a real-time disturbance to the spatial magnetic field, which is captured by the triaxial Hall magnetic sensor below, thereby deriving the magnitude and direction of the shear force on the cilia.

[0083] like Figure 7As shown, the shear force magnitude and direction acquisition device based on flexible magnetized filaments of the present invention was used to test the shear force of different touch directions and magnitudes, including 0°, 90°, 180°, 270°, 30° and 60°, and the detected force magnitude was between 4mN and 11mN. The results show that the device can effectively test the shear force of different directions and magnitudes.

[0084] This invention uses a flexible fibrous composite film as the source of magnetic signal emission. It utilizes mechanical stimulation to cause the cilia in the composite film to deflect to a certain extent in a specific direction. Based on the displacement of the magnetic material in the cilia, the spatial magnetic field is disturbed, and the force signal is converted into a spatial magnetic signal. The operation is simple and has good repeatability. Multiple cilia work together to form an array sensing structure, which significantly enhances the sensitivity of the sensing device. Then, a composite magnetic fiber film was combined with a triaxial Hall magnetic sensor to comprehensively design a composite box-type sensing system. A force-sensing formula fitting three-phase spatial coordinates was calculated, achieving three-dimensional decoupling of complex mechanical signals wirelessly and passively. This eliminated the spatiotemporal detection limitations that might arise from the antagonism between shear force magnitude and direction detection, and simultaneously decoupled two different dimensions of measurement attributes. Ultimately, this resulted in high sensitivity (100 times higher than current levels), low detection limit (70 times higher than current levels), good durability (the composite fiber array can withstand over 10,000 bending and deflection cycles), high angular resolution (sensitivity can be miniaturized to 1°), full angular coverage (0–360°), and small size (96×61×25mm). This allows the sensing device to be further adapted to complex application scenarios such as airflow and water flow.

[0085] In summary, the device developed based on the method of this invention outperforms the detection capabilities of traditional sensors currently on the market. It overcomes the challenge of simultaneously identifying the magnitude and direction of shear force in existing technologies through a wireless, passive, and ternary decoupling approach, demonstrating new possibilities for magnetic sensing technology in determining the spatial force distribution of ternary three-dimensional systems. In the future, it will continue to demonstrate its enormous potential in applications such as touch direction recognition, fragile object grasping, and fluid recognition, particularly in intelligent robotics and health monitoring.

[0086] Example 4

[0087] A schematic diagram of a terminal device according to an embodiment of the present invention. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the various method embodiments described above. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the various device embodiments described above.

[0088] The computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention.

[0089] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0090] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0091] The memory can be used to store the computer program and / or module. The processor implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0092] If the modules / units integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0093] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for obtaining the magnitude and direction of shear force based on flexible magnetized cilium thin film, characterized in that, Includes the following steps: The change in the spatial magnetic field signal caused by the change in the displacement of cilia on a flexible magnetized cilia film after shear force is applied was obtained. The magnitude and direction of the applied shear force are obtained based on the changes in the spatial magnetic field signal. The changes in the spatial magnetic field signal include changes in the spatial magnetic field signal along the x-axis, y-axis, and z-axis; the magnitude of the shear force is obtained through the changes in the spatial magnetic field signal along the z-axis, and the direction of the shear force is obtained through the changes in the spatial magnetic field signal along the x-axis or y-axis. The magnitude of the shear force is obtained from the first model, and the direction of the shear force is obtained from the second or third model. The first model is The second model is The third model is In the formula, , as well as These represent the changes in the spatial magnetic field signal along the x-axis, y-axis, and z-axis, respectively. , The direction in which the shear force is applied. The magnitude of the applied shear force, Pi This represents the ratio of the triaxial bias voltage to the triaxial magnetic field strength of the triaxial magnetic sensor. , , , , , , , , as well as All are constants.

2. A system for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film, used to implement the method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film as described in claim 1, characterized in that, include: The data acquisition unit is used to acquire the change in spatial magnetic field signal caused by the change in the displacement of cilia on the flexible magnetized cilia film after shear force is applied. A data processing unit is used to obtain the magnitude and direction of the applied shear force based on the changes in the spatial magnetic field signal.

3. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in claim 1.

4. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 3. When the computer program is executed by a processor, it implements the steps of the method as described in claim 1.

5. A device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film, characterized in that, The method for obtaining the magnitude and direction of shear force based on a flexible magnetized fibrous film as described in claim 1 includes a flexible magnetized fibrous film (1) and a triaxial magnetic sensing component (9), wherein the triaxial magnetic sensing component (9) is disposed within the magnetic field range of the flexible magnetized fibrous film (1). The triaxial magnetic sensing component (9) is electrically connected to a microcontroller (8).

6. The device for obtaining the magnitude and direction of shear force based on a flexible magnetized fiber film according to claim 5, characterized in that, The flexible magnetized fiber film (1) is arranged perpendicularly to the triaxial magnetic sensing component (9), and the vertical distance between the flexible magnetized fiber film (1) and the triaxial magnetic sensing component (9) is less than 15cm.

7. The device according to claim 5, wherein the device is characterized by: The flexible magnetized fiber film (1) has a fiber length of 0.5~5mm, a length-to-diameter ratio of (2~8):1, and a fiber count of 1~50.

8. The application of the shear force magnitude and direction acquisition device based on a flexible magnetized fiber film as described in claims 5 to 7 in the fields of biomedicine and intelligent sensing.

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