Interface device based on multi-channel soft sensor and operation method

Abstract

The invention relates to an interface device based on a multi-channel soft sensor and an operation method thereof. The glove-type multi-channel soft sensor-based interface device according to the present invention can recognize the degree of flexibility of a knuckle, and comprises: a sensing module which comprises a plurality of strain sensors and collects strain sensing signals of the plurality of strain sensors; the switching device is used for selecting any one of the strain sensing signals of the plurality of strain sensors; an amplification module for amplifying the strain sensing signal selected by means of the switching device; and an analog-to-digital converter for converting the amplified sensing signal into a digital signal.

Description

Technical Field

[0001] The present invention generally relates to an interface device and an operating method thereof, and more particularly, to an interface device based on a multi-channel soft sensor and an operating method thereof. Background Art

[0002] In this specification, a "soft sensor" is a sensor having flexibility and elasticity. As a material of the soft sensor, silicon or liquid metal can be used to ensure flexibility and elasticity. Soft sensors are widely used to measure strain, pressure, etc. For example, a soft sensor can be used to measure the movement of a finger.

[0003] Recently, interface devices for virtual reality (VR), augmented reality (AR), or mixed reality (MR) have been developed based on soft sensors. For example, a glove-type soft sensor-based interface can generate input signals by measuring the movement of finger joints or the grip pressure of fingertips in real time with 10 built-in soft sensors, and send the generated input signals to an external device, and can convert the signals received from the external device into tactile sensation or force through a built-in tactile device (e.g., a vibration motor), and send the converted tactile sensation or force to the user.

[0004] Soft sensor-based interfaces are increasingly being used in a variety of fields, including military, rehabilitation, broadcasting, gaming, etc. For example, interfaces are being used for VR training of soldiers or patients, live broadcasting of animations that require real-time motion capture technology, VR gaming that allows the use of gloves instead of controllers, etc.

[0005] However, although various products such as finger movement measurement gloves are being released for soft sensor-based interfaces, various problems have arisen, such as difficulty in accurate measurement due to limitations in building the sensor itself into the interface device, vulnerability to moisture or magnetic fields, cumulative errors over time, reduced wearing comfort due to the size of electrical components (e.g., printed circuit boards (PCBs)), low mass production due to manual work such as sensor calibration, amplification ratio adjustment, etc., limited expansion of the demand base due to high prices, etc., and it is necessary to develop various technologies to solve the above-mentioned problems. Summary of the invention

[0006] Technical issues

[0007] The object of the present invention is to provide an interface device based on a multi-channel soft sensor, in which multiple switches and time division scheduling are introduced to process multi-sensor data.

[0008] The present invention also aims to provide an interface device based on a multi-channel soft sensor, to which an intelligent sensor measurement preprocessing technology according to sensor characteristics is applied based on a digital variable resistor.

[0009] The present invention also aims to provide a method for applying various technologies such as low-noise amplification circuit design technology, multi-sensor switching design technology, intelligent sensor measurement preprocessing technology, acceleration sensor measurement and transmission technology, battery management technology, red, green and blue light-emitting diode (RGB LED) control technology, software power control technology, transmission quality assurance technology, module miniaturization design technology, etc. to interface devices to increase the mass production of interface devices and reduce power consumption.

[0010] The objects of the present invention are not limited to the above objects, and other objects not described can be clearly understood by those skilled in the art from the following description.

[0011] Technical Solution

[0012] In order to achieve the above-mentioned purpose, an interface device based on a multi-channel soft sensor according to one embodiment of the present invention is a glove-type interface device based on a multi-channel soft sensor, which identifies the elasticity degree of finger joints and includes: a sensing module, the sensing module includes multiple strain sensors and collects strain sensing signals of the multiple strain sensors; a switching unit, the switching unit is configured to select any one of the strain sensing signals of the multiple strain sensors; an amplification module, the amplification module is configured to amplify the strain sensing signal selected by the switching unit; and an analog-to-digital (A / D) converter, the A / D converter is configured to convert the amplified sensing signal into a digital signal.

[0013] In one embodiment of the present invention, the strain sensor may be mounted on a finger joint.

[0014] In one embodiment of the present invention, the interface device may further include: a first processor configured to convert the digital signal into a motion signal; and a communication module configured to wirelessly transmit the motion signal to an external device.

[0015] In one embodiment of the present invention, the interface device may further include a preprocessing module, which is configured to use a first variable resistor to convert the strain sensing signal selected by the switching unit, wherein the amplification module can amplify the strain sensing signal converted by the preprocessing module.

[0016] In one embodiment of the present invention, the interface device may further include a preprocessing module, which is configured to adjust the gain of the differential amplifier included in the amplification module using a second variable resistor, wherein the preprocessing module can adjust the gain based on the input voltage range of the A / D converter.

[0017] In one embodiment of the present invention, the interface device may further include a battery management module configured to control the state of a power source connected to the battery of the interface device so that the charge level of the battery is within a predetermined charge level range.

[0018] In one embodiment of the present invention, the charging level may range from 20% to 80%.

[0019] In addition, according to one embodiment of the present invention, an operating method of an interface device based on a multi-channel soft sensor includes: a sensing signal collection and switching operation, collecting strain sensing signals of multiple strain sensors and selecting any one of the strain sensing signals of the multiple strain sensors; a signal amplification operation, amplifying the selected strain sensing signal; and an analog-to-digital conversion operation, converting the amplified sensing signal into a digital signal.

[0020] In one embodiment of the present invention, the method for operating the interface device based on the multi-channel soft sensor may further include the following steps: after the sensing signal collection and switching operations, converting the selected strain sensing signal using a first variable resistor.

[0021] In one embodiment of the present invention, the operating method of the interface device based on the multi-channel soft sensor may also include: an initial resistance setting operation, setting the resistance value of the first variable resistor for each strain sensor based on the resistance variation range of the multiple strain sensors; and an amplifier gain setting operation, setting the gain of the differential amplifier used in the signal amplification operation based on the input voltage range of the A / D converter.

[0022] In one embodiment of the present invention, in the initial resistance setting operation, the resistance value may be set based on a maximum measurement value of each strain sensor.

[0023] In one embodiment of the present invention, in the amplifier gain setting operation, the input voltage range based on the A / D converter can be adjusted within the input range of the differential amplifier.

[0024] In one embodiment of the present invention, the operating method of the interface device based on the multi-channel soft sensor may further include the following steps: storing the resistance value and the gain of the differential amplifier in a built-in memory.

[0025] In one embodiment of the present invention, the operating method of the interface device based on the multi-channel soft sensor may also include the following steps: an initial resistance setting operation, setting the resistance value of the first variable resistor to the maximum measurement range of each strain sensor based on the resistance variation range of the multiple strain sensors; and an amplifier gain setting operation, in order to adjust the input voltage range of the A / D converter, setting the gain of the differential amplifier used in the signal amplification operation to within the input range of the differential amplifier.

[0026] Beneficial effects

[0027] According to one embodiment of the present invention, by automatically calibrating sensors installed on a soft sensor-based interface device and automatically controlling the gain of a differential amplifier based on a digital variable resistor, the accuracy of sensor measurement values ​​can be increased and the reliability of the soft sensor-based interface device can be improved, and the mass production of the interface device can be increased because manual calibration work for multiple sensors can be eliminated.

[0028] Furthermore, according to one embodiment of the present invention, by introducing multiple switches and time division scheduling to process multi-sensor data, the number of amplifiers installed on the interface device and the power usage can be reduced.

[0029] Furthermore, according to one embodiment of the present invention, the life of a battery built into an interface device can be extended by preventing overcharge and overdischarge of the battery.

[0030] Effects obtainable in the present invention are not limited to the above-described effects, and other effects that are not described can be clearly understood by those skilled in the art from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a diagram of an example of a low current / low noise amplification circuit included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0032] Figure 2 is a diagram of an example of a multi-sensor measurement switch circuit included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0033] Figure 3 is a diagram showing an example of time-division measurement of multiple sensors of a multi-channel soft sensor-based interface device according to an embodiment of the present invention.

[0034] Figure 4a is a graph showing a change in resistance according to a change in sensor length.

[0035] Figure 4bis a diagram of an example of a digital variable resistor control circuit for initializing a sensor resistance value included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0036] Figure 5 is a diagram of an example of gain control of a digital variable resistor based differential amplifier included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0037] Figure 6 is a diagram showing an example of voltage change according to a digital variable resistor.

[0038] Figure 7 is a diagram showing an example of controlling the amplifier gain according to the sensor.

[0039] Figure 8 is a diagram illustrating an initial resistance and gain control process applied to a multi-channel soft sensor based interface device according to one embodiment of the present invention.

[0040] Fig. 9 It is a timing diagram of measurement and transmission of an acceleration sensor of an interface device based on a multi-channel soft sensor according to one embodiment of the present invention.

[0041] Fig.10 is a diagram of a red, green, and blue light emitting diode (RGB LED) driving circuit and a control method thereof included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0042] Fig.11 is a diagram showing a software power control structure of an interface device based on a multi-channel soft sensor according to an embodiment of the present invention.

[0043] Fig.12 is a diagram of an example of an overcharge and overdischarge prevention circuit included in a multi-channel soft sensor based interface device according to an embodiment of the present invention.

[0044] Fig.13 1 is a timing diagram of the measurement and wireless transmission of sensor values ​​applied to an interface device based on a multi-channel soft sensor according to an embodiment of the present invention.

[0045] Figures 14a to 14c is a diagram showing multiple sensors and a data wireless transmission module (communication module) included in an interface device based on a multi-channel soft sensor according to one embodiment of the present invention.

[0046] Fig.15 is a block diagram showing a configuration of a multi-channel soft sensor based interface device according to one embodiment of the present invention.

[0047] Fig.16 is a flow chart describing an operation method of a multi-channel soft sensor based interface device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0048] With reference to the accompanying drawings and the embodiments described in detail below, the advantages and features of the present invention and the methods for implementing the present invention will be clearly understood. However, the present invention is not limited to the embodiments to be disclosed below, but can be implemented in various different forms. The embodiments are provided to fully explain the present embodiments and to fully explain the scope of the present invention to those skilled in the art. The scope of the present invention is limited only by the appended claims. At the same time, the terms used herein are only for describing the embodiments of the present invention and not for the purpose of limitation. In this specification, the singular includes the plural unless the context clearly indicates otherwise. It should be understood that the terms "include" and / or "comprising" used herein specify some of the components, steps, operations and / or elements described, but do not exclude the presence or addition of one or more other components, steps, operations and / or elements.

[0049] In describing the present invention, detailed descriptions of related known configurations or functions which are deemed to unnecessarily obscure the gist of the present invention will be omitted.

[0050] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the present invention, in order to facilitate comprehensive understanding, the same reference numerals are used for the same elements in all drawings.

[0051] Hereinafter, a technology applied to a soft sensor-based interface device according to an embodiment of the present invention will be described. For ease of description, this embodiment will focus on a soft sensor-based interface device of a glove type, in which a strain sensor is installed on each finger portion, and an acceleration sensor is installed. That is, a soft sensor-based interface device according to an embodiment of the present invention is used in a case where the soft sensor-based interface device has 10 or more strain sensors and one acceleration sensor. However, the scope of the present invention is not limited thereto. For example, 10 strain sensors may be installed in an interface device without an acceleration sensor.

[0052] Figure 1 is a diagram of an example of a low current / low noise amplification circuit included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. Since the resistance change of the strain sensor is usually very small, it needs to be amplified by an amplification circuit. The low current / low noise amplification circuit suitable for the low resistance strain sensor can be formed using a differential amplifier, such as Figure 1 As shown in the example. Figure 1The example amplification circuit includes three differential amplifiers A1, A2 and A3. The output of the sensor is connected to the non-inverting terminal (+) of the second differential amplifier A2 via an overvoltage protection (OVP) circuit, and the ground is connected to the non-inverting terminal (+) of the first differential amplifier A1 via the OVP circuit. In addition, the output terminal of the first differential amplifier A1 is connected to the inverting terminal (-) and the output terminal of the third differential amplifier A3 via a resistor, and the output terminal of the second differential amplifier A2 is connected to the non-inverting terminal (+) of the third differential amplifier A3 via a resistor. The output of the third differential amplifier A3 is transmitted to an analog-to-digital (A / D) converter (ADC).

[0053] Figure 2 is a diagram of an example of a multi-sensor measurement switch circuit included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The switch circuit is intended to miniaturize the amplifier portion included in the interface device, and is an example of forming a switch circuit using a multiplexer (MUX) to allow one amplifier to amplify signals of multiple sensors (e.g., 10 or more sensors). That is, the interface device based on a multi-channel soft sensor according to an embodiment of the present invention is formed so that, instead of providing a separate amplification module (amplification circuit) for each sensor, a single amplification module (amplification circuit) can use a switch circuit to amplify the measurement signals generated by all sensors.

[0054] Figure 3 FIG. 1 is a diagram showing an example of time-division measurement of multiple sensors of an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The MUX control firmware performs time-division measurement on the signals of the multiple sensors. Figure 3 As shown, time division measurement may be performed by measuring signals of 10 strain sensors (strain sensing signals) in units of time, the time being divided into 1 ms for 10 ms.

[0055] Figures 4a to 8 1 is a diagram of an intelligent sensor measurement preprocessing technique applied to an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The sensor measurement preprocessing technique applied to the interface device may include (1) setting of an initial resistance, (2) control of an amplifier gain, (3) adjustment of a scale, and (4) storage of an initial resistance value and an amplifier gain value.

[0056] Figure 4a is a graph showing the change in resistance according to the change in sensor length, Figure 4b1 is a diagram of an example of a digital variable resistor control circuit for initializing a sensor resistance value (setting of an initial resistance) included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The sensors included in the interface device may have different characteristics depending on the material or physical properties, even when the sensors are designed to have the same specifications. For example, even when a plurality of strain sensors included in the interface device are designed to have the same resistance value, the plurality of strain sensors may have a resistance value different from the designed resistance value after manufacturing, and each strain sensor may have a different resistance value. Therefore, these differences must be calibrated using a digital variable resistor.

[0057] At the same time, in addition to setting the initial resistance, it is also necessary to control the amplifier gain to improve the measurement accuracy. Figure 5 is a diagram showing an example of gain control of a digital variable resistor-based differential amplifier included in a multi-channel soft sensor-based interface device according to an embodiment of the present invention. Figure 5 As shown, in Figure 1 In the amplifier circuit shown, by connecting a variable resistor (potentiometer) to the inverting terminal (-) of the first differential amplifier A1 and the inverting terminal (-) of the second differential amplifier A2, a differential amplifier gain control circuit based on a digital variable resistor according to the present invention can be formed.

[0058] In the interface device, a preprocessing module that performs tasks of (1) setting of initial resistance, (2) control of amplifier gain, (3) adjustment of scale, and (4) storage of initial resistance value and amplifier gain value has built-in firmware that performs smart sensor measurement preprocessing according to sensor characteristics and resistance variation range. For example, the firmware performs a function of controlling an initial digital variable resistor. That is, the firmware performs operations of controlling the initial digital variable resistor according to the sensor characteristics and controlling the consumption current according to the variable resistor. Figure 6 is a diagram showing an example of voltage change according to a digital variable resistor, and it can be seen that the initial voltage changes according to the initial resistance. In addition, the firmware controls the gain of the differential amplifier according to the sensor resistance change range, adjusts the micro voltage measurement range according to the control of the gain of the differential amplifier, and stores the initial resistance value and the amplifier gain value in a non-volatile memory for future reuse. Figure 7 is a diagram of an example of controlling the gain of an amplifier according to a sensor, and shows a voltage change of a sensor according to gain control. The functions of the above-mentioned firmware may be performed by a plurality of firmwares in charge of each detailed function.

[0059] Figure 8is a diagram showing an initial resistance and gain control process applied to an interface device based on a multi-channel soft sensor according to one embodiment of the present invention. As described above, assuming a glove-type soft sensor-based interface device, the user can change the resistance of the strain sensor by repeatedly performing the clenching and loosening movement of the fist in a calibration mode while wearing the interface device. In this case, 1) the voltage changes according to the resistance change of the strain sensor. That is, the preprocessing module can measure the resistance change according to the user's movement based on the measured voltage value. 2) In order to improve the accuracy, the initial resistance should be set, and the voltage range can change according to the setting of the initial resistance. The preprocessing module can set the initial resistance so that the voltage range is formed according to a predetermined reference. 3) When the sensing signal passes through the amplification circuit, the voltage increases, and the preprocessing module controls the gain of the amplifier to adjust the voltage that appears due to the amplification. The preprocessing module controls the gain of the amplifier based on the measurement range of the ADC to adjust the voltage change. That is, the preprocessing module can set the gain of the amplifier based on the measurement range of the ADC. 4) In addition, the preprocessing module can adjust the scale of the data value. That is, the preprocessing module can adjust the zero point and scale of the amplified measurement value so that the measurement value with the adjusted zero point and scale is sent to the ADC. The above zero point and scale adjustment can be performed in software.

[0060] Fig. 9 1 is a timing diagram of the measurement and transmission of the acceleration sensor of the interface device based on the multi-channel soft sensor according to one embodiment of the present invention. The interface device based on the multi-channel soft sensor according to one embodiment of the present invention may also include an acceleration sensor in addition to the strain sensor. When the acceleration sensor is installed on the interface device, an acceleration sensor interface and measurement data transmission technology are required. Specifically, the interface device may include an acceleration sensor interface circuit and may have a built-in firmware responsible for scheduling to ensure the transmission quality of the measurement data of the acceleration sensor. Fig. 9 As shown, assuming that the sensor data processing cycle is 15 ms, scheduling can be performed in such a way that the acceleration sensor measurement value is processed within 1 ms immediately after the measurement value of the strain sensor (for example, 10 strain sensors) is processed for 10 ms.

[0061] Fig.10 1 is a diagram of a red, green, and blue light emitting diode (RGB LED) driving circuit and a control method thereof included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The interface device may include an RGB LED display for monitoring the status of the device. In this case, the interface device may have a built-in RGB LED control circuit and built-in firmware for controlling the LED.

[0062] Fig.11is a diagram showing a software power control structure of an interface device based on a multi-channel soft sensor according to one embodiment of the present invention. The interface device may be equipped with a power on / off function using a touch switch. In this case, the interface device may have a built-in power control circuit via a touch switch and a built-in firmware for controlling the touch switch. An example of a process of turning the power on or off by a touch switch is as follows.

[0063] 1) Touch switch off → power on

[0064] 2) Power on → GPIO output high

[0065] 3)GPIO output high → keep power on

[0066] 4) (Time is greater than or equal to the threshold time) Touch switch is closed → GPIO output is low

[0067] 5) GPIO output low & touch switch open → power off

[0068] When the touch switch is pressed (closed), the power supply becomes on and the GPIO outside the microcontroller unit (MCU) becomes high. In this case, power is maintained regardless of whether the touch switch is in a closed state or an open state. Thereafter, when the touch switch is continuously pressed (closed) for a time longer than or equal to a threshold time (e.g., 3 seconds), the GPIO output becomes low, and the power supply is disconnected when the touch switch changes from a closed state to an open state.

[0069] Fig.12 is a diagram of an example of an overcharge and over-discharge prevention circuit included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The battery management module of the interface device may include an overcharge and over-discharge prevention circuit. The overcharge and over-discharge prevention circuit may include an overcharge prevention chip. Assuming that the interface device is equipped with a lithium-ion battery, the battery management module of the interface device may include a circuit and software (firmware) for preventing the lithium-ion battery from being overcharged and over-discharged. The battery management module also includes a touch switch, and as Fig.11 As described in the , by using a touch switch to perform power on / off control, power can be cut off when the battery has a first critical capacity (e.g., 20%) or less, and charging can be cut off when the battery has a second critical capacity (e.g., 80%) or more. By managing the battery capacity within a predetermined charging range (a range between the first critical capacity and the second critical capacity), the battery usage time can be extended as much as possible.

[0070] Fig.131 is a timing diagram of the measurement and wireless transmission of sensor values ​​applied to an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The interface device wirelessly transmits strain sensor values ​​and acceleration sensor values ​​to an external device or a server through a communication module, and a predetermined communication protocol is required to ensure the quality of service (QoS) of the sensor value data transmission. That is, the interface device performs multi-sensor data measurement and wireless transmission using a scheduling algorithm. The communication module of the interface device may include a Bluetooth interface for wireless data transmission. In addition, data frames and protocols for wireless data transmission may be defined.

[0071] Figures 14a to 14c 1 is a diagram showing a multi-sensor and data wireless transmission module (communication module) included in an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The communication module wirelessly transmits data of a plurality of strain sensors (10 or more strain sensors) and an acceleration sensor to an external device or a server. The interface device may be equipped with a miniaturized multi-sensor and communication module to reduce the weight of the device and increase wear resistance, and to this end, the multi-sensor and communication module may include (1) a Bluetooth module M1 (see Fig.14a )、(2) Bluetooth chip M2 (see Fig.14b ) or (3) analog front end (AFE) dedicated chip M3 (see Fig.14c )

[0072] Table 1 summarizes the methods for miniaturizing the multi-sensor and data wireless transmission module (communication module).

[0073] [Table 1]

[0074]

[0075] Fig.15 is a block diagram showing a configuration of a multi-channel soft sensor based interface device according to one embodiment of the present invention.

[0076] The interface device 100 according to one embodiment of the present invention includes a sensing module 110, a switching unit 120, an amplification module 130, a pre-processing module 140, an ADC 150, a first processor 160, a second processor 170, a communication module 180, and a haptic module 190. Fig.15 Although not shown in the figure, the interface device 100 may further include a battery 200 and a battery management module 210. The components of the interface device 100 according to the present invention are not limited to Fig.15 The embodiments shown in the figure can be added, changed or deleted as needed. For example, the pre-processing module 140 or the haptic module 190 can be deleted as needed.

[0077] The interface device 100 according to the present invention may be a glove-type multi-channel soft sensor-based interface device that is capable of identifying the degree of elasticity of finger joints.

[0078] The sensing module 110 includes a plurality of strain sensors and collects strain sensing signals of the plurality of strain sensors. The strain sensors may be mounted on the finger joint parts, for example, 10 strain sensors may be mounted on one of the finger joint parts respectively. The strain sensors may generate different strain sensing signals (e.g., voltages) because their resistance changes according to the elasticity of the finger joints. In addition, the sensing module 110 may further include an acceleration sensor. The strain sensing signals and acceleration sensing signals generated by the sensing module 110 are transmitted to the switching unit 120.

[0079] The switching unit 120 selects any one of the strain detection signals of the plurality of strain sensors. The switching unit 120 may select any one of the strain sensing signals of the plurality of strain sensors according to the input selection signal. The switching unit 120 may be implemented using a MUX. The switching unit 120 may be implemented as Figure 2 When the switching unit 120 receives strain sensing signals and acceleration sensing signals from multiple strain sensors, the switching unit 120 can select any one of the sensing signals. Figure 3 As shown in the example of FIG. 1 , the switching unit 120 performs time division measurement. When the sensing module 110 includes an acceleration sensor, the switching unit 120 may perform time division measurement in the same manner as the Fig. 9 The same form of the example performs scheduling on sensor measurements.

[0080] The amplification module 130 amplifies the strain sensing signal or the acceleration sensing signal selected by the switching unit 120. The amplification module 130 may be implemented using Figure 1 The example shown is a low current / low noise amplifier circuit of a differential amplifier.

[0081] The pre-processing module 140 uses a first variable resistor (see Figure 4b ) converts the sensing signal selected by the switching unit 120. In this case, the amplification module 130 amplifies the sensing signal converted by the preprocessing module 140. The preprocessing module 140 may change the resistance value of the first variable resistor of each sensor (for each sensing signal) based on the scheduling of the sensing signal. For example, the resistance values ​​of the first variable resistors applied to the first strain sensor and the second strain sensor among the plurality of strain sensors included in the sensing module 110 may be applied differently by the preprocessing module 140.

[0082] The pre-processing module 140 uses a second variable resistor (see Figure 5) adjusts the gain of the differential amplifier included in the amplification module 130. In this case, the pre-processing module 140 adjusts the gain based on the input voltage range of the ADC 150. The pre-processing module 140 may change the resistance value of the second variable resistor of each sensor (for each sensing signal) based on the scheduling of the sensing signal. For example, the resistance values ​​of the second variable resistors applied to the first strain sensor and the second strain sensor among the plurality of strain sensors included in the sensing module 110 may be applied differently by the pre-processing module 140. Finally, the gain of the differential amplifier included in the amplification module 130 may be changed by the pre-processing module 140 for each sensing signal.

[0083] When the interface device 100 is in the calibration mode, the pre-processing module 140 sets the first variable resistor (whose form can be similar to that of the first variable resistor) of each strain sensor based on the resistance variation range of the plurality of strain sensors. Figure 4b In addition, the pre-processing module 140 sets the gain of the differential amplifier included in the amplification module 130 by adjusting the second variable resistor based on the input voltage range of the ADC in the calibration mode, and stores the resistance value of the first variable resistor and the resistance value of the second variable resistor in the non-volatile memory for future use.

[0084] For example, when wearing the interface device 100 on his / her hand, the user can change the resistance of the strain sensor by repeatedly performing the clenching and loosening movement of the fist in the calibration mode. In this case, the voltage changes according to the resistance change of the strain sensor, and the preprocessing module 140 can measure the resistance change according to the user's movement based on the measured voltage value. In order to improve the accuracy, the resistance value (initial resistance) of the first variable resistor should be set, and the voltage range of the sensing signal can be changed according to the setting of the initial resistance. The preprocessing module 140 can set the resistance value (initial resistance) of the first variable resistor to form a voltage range according to a predetermined reference. When the sensing signal passes through the amplification circuit, the voltage increases, and the preprocessing module 140 controls the gain of the amplifier of the amplification module 130 to adjust the voltage that appears as a result of the amplification. The preprocessing module 140 controls the gain of the amplifier based on the measurement range of the ADC to adjust the voltage change, and stores the initial resistance value and the amplifier gain value in the non-volatile memory for future reuse. That is, the preprocessing module 140 can set the gain of the amplifier based on the measurement range of the ADC (i.e., the input voltage range). In addition, the preprocessing module 140 can adjust the scale of the amplified sensing signal. That is, the preprocessing module 140 can adjust the zero point and scale of the amplified sensing signal so that the measured value with the adjusted zero point and scale is transmitted to the ADC 150. The above zero point and scale adjustment can be performed in a software manner.

[0085] The ADC 150 converts the sensing signal amplified by the amplification module 130 into a digital signal and transmits the converted digital signal to the first processor 160 .

[0086] The first processor 160 converts the digital signal (the digital signal converted from the amplified sensing signal) into a motion signal and sends the converted motion signal to the second processor 170 or the communication module 180. For example, the first processor 160 may generate a motion signal based on the strain sensing signal, such as a motion of folding the thumb, a motion of unfolding all fingers, a motion of making a fist, etc., and send the generated motion signal to the second processor 170 or the communication module 180. As another example, the first processor 160 may synthesize the digital signal and format the digital signal into a message. In this case, the first processor 160 may send the formatted message to the second processor 170 or the communication module 180.

[0087] The second processor 170 may generate a command based on the motion signal received from the first processor 160, and transmit the generated command to the communication module 180. For example, the second processor 170 may generate a command called "stop" based on the motion signal indicating a fisting motion, and transmit the generated command to the communication module 180. As another example, the second processor 170 may generate a command based on a message received from the first processor 160.

[0088] The communication module 180 wirelessly transmits the motion signal or message received from the first processor 160 to an external device or server. In addition, the communication module 180 can wirelessly transmit the command received from the second processor 170 to the external device or server. For a specific example, the communication module 180 can be composed of a Bluetooth module and an antenna, or can be composed of a Bluetooth chip and an antenna. The communication module 180 can use another wireless communication method in conjunction with Bluetooth or instead of Bluetooth. For example, the communication module 180 can use Bluetooth low energy (BLE), wireless direct, near field communication (NFC), ultra-wideband (UWB) communication or infrared communication, and can use a mesh network such as ZigBee or Z-wave to perform wireless transmission or reception.

[0089] Meanwhile, the communication module 180 may receive a signal from an external device or a server. The communication module 180 transmits the signal received from the external device to the haptic module 190 .

[0090] The haptic module 190 delivers vibration or tactile sensation to the user of the interface device 100. The haptic module 190 may variously control the level of vibration or tactile sensation according to the signal received from the communication module 180.

[0091] In addition, the interface device 100 may include a battery 200 and a battery management module 210. The battery 200 supplies power to the inside of the interface device 100, and the battery management module 210 performs a function of preventing the battery 200 from being overcharged or over-discharged, and may include an overcharge prevention chip (see Fig.12 ) or an over-discharge prevention chip. In addition, the battery management module 210 may further include a touch switch, and the touch switch may be used to manage the battery capacity within a predetermined charging level range (eg, 20% to 80%). Fig.11 and Fig.12 Details about the functions and implementation examples of the battery management module 210 are described. That is, Fig.11 and Fig.12 The content of the present invention can be applied to the battery management module 210 of the interface device 100.

[0092] Figures 1 to 14a , Fig.14b and Fig.14c The content can be applied to Fig.15 For example, Figures 4a to 8 The content of can be applied to the pre-processing module 140, and Fig.13 , Fig.14a , Fig.14b and Fig.14c The content can be applied to the communication module 180.

[0093] Fig.16 1 is a flowchart describing an operation method of an interface device based on a multi-channel soft sensor according to an embodiment of the present invention. The operation method of an interface device based on a multi-channel soft sensor according to an embodiment of the present invention includes operations S340 to S370, and may also include operations S310 to S330 or operations S380 to S400.

[0094] Operation S310 is an initial resistance setting operation. In this operation, it is assumed that the interface device 100 is in a calibration mode. The interface device 100 sets the resistance value of the first variable resistor for each strain sensor based on the resistance variation range of the plurality of strain sensors. The resistance variation range may be a resistance variation range presented by the strain sensor due to the user's bending motion and subsequent extension of all his / her finger joints.

[0095] In operation S310, the resistance value of the first variable resistor may be set based on the maximum measurement range of each strain sensor. For example, the resistance value of the first variable resistor may be set based on the maximum measurement value of each strain sensor.

[0096] Operation S320 is an amplifier gain setting operation. The interface device 100 sets the gain of the differential amplifier of the amplification module 130 based on the input voltage range of the ADC 150. For example, the interface device 100 may set the gain of the differential amplifier so that the output voltage range of the amplification module 130 obtained when the user repeats the bending motion and then extends all his / her finger joints is formed within the input voltage range of the ADC 150. Finally, the interface device 100 sets the amplification gain of the amplification module 130.

[0097] As another example, in operation S320, the interface device 100 may adjust the input voltage range of the ADC 150 based on the input range of the differential amplifier. For example, the interface device 100 may adjust the input voltage range of the ADC 150 to be within the input range of the differential amplifier.

[0098] Operation S330 is a scale adjustment operation. The interface device 100 may adjust the zero point and scale of the amplified sensing signal so that the measurement value with the adjusted zero point and scale is transmitted to the ADC 150. The above zero point and scale adjustment may be performed in a software manner.

[0099] Although not shown in the figure, after operation S320 or S330, an operation of storing the resistance value set in operation S310 and the amplification gain set in operation S320 in a nonvolatile memory may be further included (see Figures 4a to 8 description).

[0100] Operation S340 is a sensing signal collection and switching operation. The interface device 100 collects strain sensing signals of multiple strain sensors and selects any one of the strain sensing signals of the multiple strain sensors. When the sensing module 110 includes an acceleration sensor, the interface device 100 selects any one of the sensing signals of the multiple strain sensors and the acceleration sensing signal.

[0101] Operation S350 is a sensing signal conversion operation. The interface device 100 may convert the sensing signal by changing the resistance value of the first variable resistor for each sensor (for each sensing signal) based on the scheduling of the sensing signal. That is, the interface device 100 converts the sensing signal selected in operation S340 using the first variable resistor. In some cases, operation S350 may be omitted.

[0102] Operation S360 is a signal amplification operation. The interface apparatus 100 amplifies the selected sensing signal or the sensing signal converted in operation S350.

[0103] Operation S370 is an analog-to-digital conversion operation. The interface device 100 converts the amplified sensing signal into a digital signal.

[0104] Operation S380 is a motion signal generating operation. The interface device 100 generates a motion signal based on the digital signal. For example, the interface device 100 may generate a motion signal representing a “fisting motion” based on the digital signal.

[0105] Operation S390 is a command generation operation. The interface device 100 generates a command based on the motion signal. For example, the interface device 100 may generate a command called "stop" based on the motion signal indicating a "fist movement".

[0106] Operation S400 is a command transmission operation. The communication module 180 of the interface device 100 wirelessly transmits the command generated in operation S390 to an external device or a server. The wireless communication method may be Bluetooth, but the scope of the present invention is not limited thereto.

[0107] The method of operation of the interface device 100 based on the multi-channel soft sensor has been described above with reference to the flowchart shown in the accompanying drawings. For simplicity, the method has been illustrated and described as a series of blocks, but the present invention is not limited to the order of these blocks, and some blocks may appear in a different order than illustrated and described here or appear at the same time as other blocks, and various other branches, processes and orders of blocks that can achieve the same or similar results. In addition, not all of the blocks shown are necessary to implement the methods described herein.

[0108] At the same time, in reference Fig.16 In the description of, each operation may be further divided into additional operations or combined into fewer operations depending on the implementation example of the present invention. In addition, some operations may be omitted as needed, and the order between operations may be changed. In addition, even when there are other omitted contents, Figures 1 to 15 The content can also be applied to Fig.16 In addition, Fig.16 The content can be applied to Figures 1 to 15 content.

[0109] Although exemplary embodiments of the present invention and their advantages have been described above in detail, those skilled in the art should understand that various changes, substitutions and alterations may be made herein without departing from the scope of the invention as defined by the appended claims.

Claims

1. A glove-type interface device based on a multi-channel soft sensor for identifying the elasticity of a finger joint, the interface device based on a multi-channel soft sensor comprising: a sensing module, the sensing module comprising a plurality of strain sensors and collecting strain sensing signals of the plurality of strain sensors; a switching unit configured to select any one of the strain sensing signals of the plurality of strain sensors; an amplification module, the amplification module being configured to amplify the strain sensing signal selected by the switching unit; as well as An analog-to-digital A / D converter is configured to convert the amplified sensing signal into a digital signal.

2. The multi-channel soft sensor based interface device according to claim 1, wherein: The strain sensor is installed on the finger joint part.

3. The interface device based on a multi-channel soft sensor according to claim 1, further comprising: a first processor configured to convert the digital signal into a motion signal; as well as A communication module is configured to wirelessly transmit the motion signal to an external device.

4. The multi-channel soft sensor based interface device according to claim 1, further comprising a pre-processing module, wherein the pre-processing module is configured to convert the strain sensing signal selected by the switching unit using a first variable resistor, in, The amplification module amplifies the strain sensing signal converted by the pre-processing module.

5. The multi-channel soft sensor based interface device according to claim 1, further comprising a pre-processing module, wherein the pre-processing module is configured to adjust the gain of the differential amplifier included in the amplification module using a second variable resistor, in, The pre-processing module adjusts the gain based on an input voltage range of the A / D converter.

6. According to claim 1, the interface device based on multi-channel soft sensor also includes a battery management module, which is configured to control the state of a power source connected to the battery of the interface device so that the charging level of the battery is within a predetermined charging level range.

7. The multi-channel soft sensor based interface device according to claim 6, wherein: The charge levels range from 20% to 80%.

8. An operating method of an interface device based on a multi-channel soft sensor, the operating method comprising: a sensing signal collecting and switching operation of collecting strain sensing signals of a plurality of strain sensors and selecting any one of the strain sensing signals of the plurality of strain sensors; A signal amplification operation to amplify the selected strain sensing signal; as well as The analog-to-digital conversion operation converts the amplified sensing signal into a digital signal.

9. The operating method according to claim 8, further comprising the following steps: After the sensing signal collection and switching operations, the selected strain sensing signal is converted using a first variable resistor.

10. The operating method according to claim 9, further comprising: an initial resistance setting operation of setting a resistance value of the first variable resistor for each strain sensor based on a resistance variation range of the plurality of strain sensors; as well as The amplifier gain setting operation sets the gain of the differential amplifier used in the signal amplification operation based on the input voltage range of the analog-to-digital A / D converter.

11. The operating method according to claim 10, wherein: In the initial resistance setting operation, the resistance value is set based on a maximum measurement value of each strain sensor.

12. The operating method according to claim 10, further comprising the following steps: The resistance value and the gain of the differential amplifier are stored in a built-in memory.

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