Magnetic connection type flexible gel sensor for sensing human hand actions and preparation method of magnetic connection type flexible gel sensor

Abstract

The invention discloses a magnetic connection type flexible gel sensor for sensing human hand actions and a preparation method of the magnetic connection type flexible gel sensor, and belongs to the field of flexible sensors. The sensor comprises a flexible pipe protective shell, a semi-gelation eutectic gel filling body, a first corrosion-resistant strong magnet assembly and a second corrosion-resistant strong magnet assembly, wherein the middle part in the flexible pipe protection shell is filled with the semi-gelatinized eutectic gel filling body, and the positions, at the two ends of the semi-gelatinized eutectic gel filling body, in the flexible pipe protection shell are filled with a first corrosion-resistant strong magnet assembly and a second corrosion-resistant strong magnet assembly in a sealed mode correspondingly; the magnetism of the first corrosion-resistant strong magnet assembly is opposite to that of the second corrosion-resistant strong magnet assembly; the two ends of the semi-gelation eutectic gel filling body are in full contact with the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly respectively. The sensor has the advantages of being good in durability, good in sensitivity, convenient to connect, expandable in length, suitable for complex man-machine interaction scenes and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible sensors, and particularly to a magnetic connection type flexible gel sensor for human hand motion perception and a preparation method thereof. Background Art

[0002] With the development of flexible matrix materials, flexible sensors have become increasingly eye-catching. Among various materials, gels have good flexibility, ductility, and conductivity, and have the characteristic of high sensitivity in sensing strain. They can be used not only to sense large-scale human activities but also small-scale human activities. Therefore, the research on gel sensors has practical value.

[0003] Gel sensors have flexible structural forms and diverse gel formulations. These gel sensors play important roles in fields such as electronic skin, biomedicine, and wearable electronic products. However, the existing technology has at least the following deficiencies:

[0004] (1) Most gel surfaces are easily contaminated by the environment and are not suitable for direct exposure to air. Therefore, gel sensors for human motion perception need to be hermetically packaged to protect the gel material and extend its service life.

[0005] (2) Conductive gels usually rely on the resistance change caused by mechanical deformation (such as stretching, swelling, compression) to reflect the strain state. The connection of existing gel sensors depends on physical plugging or adhesives, which is complex in operation, easy to damage, and prone to signal noise.

[0006] (3) Gel materials usually undergo an aging process and gradually lose their functions.

[0007] Therefore, how to provide a gel sensor that can avoid environmental pollution, is convenient for connection, disassembly and replacement, and is aging-resistant is a problem to be solved.

[0008] In view of this, the present invention is specifically proposed. Summary of the Invention

[0009] The object of the present invention is to provide a magnetic connection type flexible gel sensor for human hand motion perception and a preparation method thereof, which can avoid environmental pollution, is convenient for connection, disassembly and replacement, and is aging-resistant, ensuring the sensitivity and accuracy of the collected signals, and thus solving the above technical problems existing in the prior art.

[0010] The object of the present invention is achieved by the following technical solutions:

[0011] A magnetic connection type flexible gel sensor for human hand motion perception, comprising:

[0012] A flexible tube protective shell, a semi-gelated eutectic gel filler, a first corrosion-resistant strong magnet assembly, and a second corrosion-resistant strong magnet assembly; wherein,

[0013] The semi-gelled eutectic gel filler fills the middle part arranged inside the flexible tube protective housing. The inside of the flexible tube protective housing at both ends of the semi-gelled eutectic gel filler is respectively sealed and filled by the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly, and the magnetism of the first corrosion-resistant strong magnet assembly is opposite to that of the second corrosion-resistant strong magnet assembly;

[0014] Both ends of the semi-gelled eutectic gel filler are in full contact with the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly respectively.

[0015] A preparation method of the magnetic connection type flexible gel sensor for human hand motion perception described in the present invention includes the following steps:

[0016] Step 1, prepare a flexible tube protective housing with a predetermined size;

[0017] Step 2, respectively prepare a corrosion-resistant strong magnet wrapped with a heat-shrinkable tube for the first corrosion-resistant strong magnet assembly and a corrosion-resistant strong magnet wrapped with a heat-shrinkable tube for the second corrosion-resistant strong magnet assembly, and the two corrosion-resistant strong magnets have opposite magnetisms;

[0018] Step 3, use a syringe to inject a pre-prepared semi-gelled eutectic gel into the middle part of the flexible tube protective housing prepared in Step 1 with a moderately excessive amount of gel to form a semi-gelled eutectic gel filler;

[0019] Step 4, respectively coat a silicone adhesive on the surface of the heat-shrinkable tubes wrapped outside the corrosion-resistant strong magnets of the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly to form a silicone adhesive layer;

[0020] Step 5, respectively insert the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly prepared in Step 4 into both ends of the flexible tube protective housing, and both are in full contact with the semi-gelled eutectic gel filler inside the flexible tube protective housing. After being respectively sealed and bonded to both ends of the flexible tube protective housing and completely cured, a magnetic connection type flexible gel sensor for human hand motion perception is obtained.

[0021] Compared with the prior art, the magnetic connection type flexible gel sensor for human hand motion perception and its preparation method provided by the present invention have the following beneficial effects:

[0022] By setting up a flexible tube protective shell, it plays a protective role for the semi-gelated eutectic gel filling body, solving the problems that current gel strain sensors are easily affected by environmental pollution, have poor durability, and are not suitable for complex actual interpersonal interaction scenarios. By respectively setting a first highly corrosion-resistant strong magnet component and a second highly corrosion-resistant strong magnet component with opposite magnetic poles at both ends, when multiple such sensors are used, adjacent two sensors can be magnetically connected through the highly corrosion-resistant strong magnet components at both ends, which is not only convenient for disassembly and assembly, but also can arbitrarily extend the length, overcoming the disadvantages that it is inconvenient to connect gel sensors with robots or wearable devices and gel sensors cannot dynamically extend the length. This sensor has the advantages of good protection and convenient connection, disassembly and combination. Since low-cost materials are used, it is convenient to realize a series of magnetically connectable and highly durable flexible gel sensors with different scales, thereby reducing the maintenance cost of the entire wearable device. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 Schematic structural diagram of the magnetically connected flexible gel sensor for hand movement perception provided by the embodiment of the present invention.

[0025] Figure 2 Schematic structural diagram of the first highly corrosion-resistant strong magnet component of the magnetically connected flexible gel sensor for hand movement perception provided by the embodiment of the present invention.

[0026] Figure 3 Relative resistance change diagram of the sensor provided by the embodiment of the present invention when stretched from 20 mm to 40 mm under magnetic connection.

[0027] Figure 4 Relative resistance change curve graph of the magnetically connected flexible gel sensor provided by the embodiment of the present invention when stretched at different speeds.

[0028] Figure 5 Resistance change curve graph of the magnetically connected flexible gel sensor provided by the embodiment of the present invention when stretched at 0.1 mm per step.

[0029] Figure 6 Relative resistance change curve graph of the magnetically connected flexible gel sensor provided by the embodiment of the present invention during the process of 230% strain without magnet connection.

[0030] Figure 7The relative resistance change curve of the magnetically connected flexible gel sensor provided by the embodiment of the present invention after being stretched by 65% and returning to the initial state.

[0031] Figure 8 The relative resistance change curve of the magnetically connected flexible gel sensor provided by the embodiment of the present invention during the process of cycling 1700 times at 0.9 Hz with a strain of 100% each time.

[0032] Figure 9 The schematic diagram of the magnetically connected flexible gel sensor provided by the embodiment of the present invention for a gesture recognition wearable device.

[0033] Figure 10 The schematic diagrams of the magnetically connected flexible gel sensor provided by the embodiment of the present invention for three types of gestures, keyboard clicks, drawing simple graphics, and writing capital English letters.

[0034] Figure 11 For use Figure 9 The schematic diagram of the signal change collected by the data acquisition card when the wearable device performs gesture recognition.

[0035] Figure 12 The schematic diagram of the series connection state of the gel sensors provided by the embodiment of the present invention.

[0036] Figure 13 The schematic diagram of the signal change of the gel sensors provided by the embodiment of the present invention after being stretched in series.

[0037] Figure 14 The schematic diagram of the signal performance of the gel sensors provided by the embodiment of the present invention after being pressed, twisted, and then stretched.

[0038] Figure 15 The schematic diagram of the sensor resistance change of the gel sensors provided by the embodiment of the present invention with the rest of the part except the two ends immersed in water. Detailed implementation manners

[0039] Combined with the specific content of the present invention below, the technical solutions in the embodiments of the present invention are described clearly and completely; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, which does not constitute a limitation to the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0040] First, the following explanations are given for the terms that may be used in this article:

[0041] The term "and / or" means that either or both of the two can be achieved. For example, X and / or Y means that it includes both the cases of "X" or "Y" and the case of "X and Y".

[0042] Descriptions using terms such as "comprising", "including", "containing", "having" or other similar semantics shall be construed as non-exclusive inclusion. For example, including a technical feature element (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, processes, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or articles, etc.) shall be construed as not only including the explicitly listed technical feature element, but also other technical feature elements well-known in the art that are not explicitly listed.

[0043] The term "consisting of" means excluding any technical feature element that is not explicitly listed. If this term is used in a claim, then this term will make the claim a closed type, making it not include technical feature elements other than the explicitly listed ones, except for conventional impurities related thereto. If this term only appears in a sub-clause of a claim, then it only limits the elements explicitly listed in that sub-clause, and the elements recorded in other sub-clauses are not excluded from the overall claim.

[0044] Unless otherwise explicitly specified or limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0045] When a concentration, temperature, pressure, dimension or other parameter is expressed in the form of a numerical range, this numerical range shall be understood as specifically disclosing all ranges formed by the pairing of any upper limit value, lower limit value, and preferred value within this numerical range, regardless of whether this range is explicitly recorded. For example, if the numerical range "2 - 8" is recorded, then this numerical range shall be construed as including ranges such as "2 - 7", "2 - 6", "5 - 7", "3 - 4 and 6 - 7", "3 - 5 and 7", "2 and 5 - 7", etc. Unless otherwise stated, the numerical ranges recorded in this article include both their end values and all integers and fractions within this numerical range.

[0046] The terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for convenience of description and simplification of description, rather than explicitly or implicitly indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to this document.

[0047] The following provides a detailed description of the solution provided by the present invention. The content not described in detail in the embodiments of the present invention belongs to the prior art well-known to those skilled in the art. In the embodiments of the present invention, those not specified in specific conditions are carried out according to the conventional conditions in the art or the conditions recommended by the manufacturer. For the reagents or instruments not specified in the embodiments of the present invention for the manufacturer, they are all conventional products that can be obtained through commercial purchase.

[0048] As Figure 1 shown, the embodiment of the present invention provides a magnetic connection type flexible gel sensor for human hand movement perception, including:

[0049] A flexible tube protective shell 1, a semi-gelled eutectic gel filling body 2, a first corrosion-resistant strong magnet assembly 3, and a second corrosion-resistant strong magnet assembly 4; wherein,

[0050] The semi-gelled eutectic gel filling body 2 fills the middle part arranged in the flexible tube protective shell 1, and both ends of the semi-gelled eutectic gel filling body 2 in the flexible tube protective shell 1 are hermetically filled by the first corrosion-resistant strong magnet assembly 3 and the second corrosion-resistant strong magnet assembly 4 respectively, and the magnetism of the first corrosion-resistant strong magnet assembly 3 is opposite to that of the second corrosion-resistant strong magnet assembly 4;

[0051] Both ends of the semi-gelled eutectic gel filling body 2 are in full contact with the first corrosion-resistant strong magnet assembly 3 and the second corrosion-resistant strong magnet assembly 4 respectively.

[0052] Preferably, in the above sensor, the first corrosion-resistant strong magnet assembly 3 and the second corrosion-resistant strong magnet assembly 4 have the same composition. Refer to Figure 2 , the first corrosion-resistant strong magnet assembly 3 includes:

[0053] A corrosion-resistant strong magnet 31, a heat-shrinkable tube 32, and a silicone adhesive layer 33; wherein,

[0054] The heat-shrinkable tube 32 completely wraps the corrosion-resistant strong magnet 31, and the outside of the heat-shrinkable tube 32 is coated with the silicone adhesive layer 33, and the silicone adhesive layer 33 can be hermetically bonded to the inner surface of the end of the flexible tube protective shell 1.

[0055] Preferably, in the above-mentioned sensor, the highly corrosion-resistant permanent magnet 31 is a neodymium iron boron permanent magnet with a cylindrical structure.

[0056] Preferably, in the above-mentioned sensor, the semi-gelated eutectic gel filling body 2 is a semi-gelated eutectic gel filling body.

[0057] Preferably, in the above-mentioned sensor, the semi-gelated eutectic gel used for the semi-gelated eutectic gel filling body is prepared in the following manner, including:

[0058] Step 311: Using a deep eutectic solvent, zinc perchlorate hexahydrate (Zn(ClO 4 ) 2 ·6H 2 O), and [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl)ammonium hydroxide as raw materials. The deep eutectic solvent is a deep eutectic solvent composed of low-cost choline chloride, ethylene glycol, and urea in a molar ratio of 1:2:1;

[0059] Step 312: Prepare a precursor solution: Weigh 1.4895 g of zinc perchlorate hexahydrate (Zn(ClO 4 ) 2 ·6H 2 O) and dissolve it in 2 mL of the deep eutectic solvent. Control the stirring rate at 200 - 300 rpm and continuously mix for 50 minutes until a transparent homogeneous solution is formed, which is the precursor solution;

[0060] Step 313: Introduce zwitterionic monomers: Add 0.6321 g of [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl)ammonium hydroxide to the precursor solution prepared in Step 312. Control the stirring rate at 200 - 300 rpm and continuously mix for 50 minutes until a transparent homogeneous solution is formed;

[0061] Step 314: Place the transparent homogeneous solution prepared in Step 313 in a glass container and place it in a constant temperature oven at 70 ± 1 °C for drying for 13 - 15 minutes to form a semi-gel state product, which is the semi-gelated eutectic gel.

[0062] This semi-gelated eutectic gel is convenient for injection into the flexible tube protective housing, and then a semi-gelated eutectic gel filling body is formed.

[0063] In the above-mentioned sensor, the flexible tube protective housing 1 preferably adopts a silica gel tube protective housing, or other flexible, elastic, and protective tubular protective housings can also be used.

[0064] The embodiment of the present invention also provides a preparation method for the above-mentioned magnetic connection type flexible gel sensor for human hand movement perception, including the following steps:

[0065] Step 1, prepare a flexible tube protective housing of a predetermined size;

[0066] Step 2, respectively prepare a corrosion-resistant strong magnet wrapped with a heat-shrinkable tube of the first corrosion-resistant strong magnet assembly and a corrosion-resistant strong magnet wrapped with a heat-shrinkable tube of the second corrosion-resistant strong magnet assembly, and the two corrosion-resistant strong magnets have opposite magnetic polarities;

[0067] Step 3, use a syringe to inject a pre-prepared semi-gelated eutectic gel into the middle part of the flexible tube protective housing filled in Step 1 with an appropriate excess amount of gel to form a semi-gelated eutectic gel filling body;

[0068] Step 4, respectively coat a silicone adhesive on the surface of the heat-shrinkable tubes wrapped outside the corrosion-resistant strong magnets of the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly to form a silicone adhesive layer;

[0069] Step 5, respectively insert the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly prepared in Step 4 into both ends of the flexible tube protective housing, and both are in full contact with the semi-gelated eutectic gel filling body in the flexible tube protective housing. After being hermetically bonded and completely cured with both ends of the flexible tube protective housing respectively, a magnetic connection type flexible gel sensor for human hand movement perception is obtained.

[0070] Preferably, in Step 3 of the above method, injecting the pre-prepared semi-gelated eutectic gel into the middle part of the flexible tube protective housing filled in Step 1 with an appropriate excess amount of gel is: if the volume inside the flexible tube protective housing is V, the appropriate excess amount of gel is 1.3V - 2V.

[0071] Preferably, in Step 3 of the above method, injecting and filling the semi-gelated eutectic gel into the middle part of the flexible tube protective housing is carried out in the following manner, including:

[0072] Step 31, if both ends of the flexible tube protective housing are end A and end B respectively, use a syringe to inject the semi-gelated eutectic gel into the flexible tube protective housing from one end. When the gel reaches a position 2 millimeters away from end B, stop injecting;

[0073] Step 32, use a clip to clamp end B of the flexible tube protective housing at a position 2 millimeters away from end B of the flexible tube protective housing;

[0074] Step 33, continue to inject the remaining semi-gelated eutectic gel;

[0075] Step 34, use another clip to clamp end A of the flexible tube protective housing at a position 2 millimeters away from end A of the flexible tube protective housing.

[0076] Preferably, in Step 3 of the above method, the semi-gelated eutectic gel used is prepared in the following manner, including:

[0077] Step 311: Using a deep eutectic solvent, zinc perchlorate hexahydrate (Zn(ClO 4 ) 2 ·6H 2 O), and [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl)ammonium hydroxide as raw materials, wherein the deep eutectic solvent is a deep eutectic solvent composed of low-cost choline chloride, ethylene glycol, and urea in a molar ratio of 1:2:1;

[0078] Step 312: Preparing a precursor solution: Weigh 1.4895 g of zinc perchlorate hexahydrate (Zn(ClO 4 ) 2 ·6H 2 O) and dissolve it in 2 mL of the deep eutectic solvent, control the stirring rate at 200 - 300 rpm, and continuously mix for 50 minutes until a transparent homogeneous solution is formed;

[0079] Step 313: Introducing an amphoteric ion monomer: Add 0.6321 g of [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl)ammonium hydroxide to the precursor solution prepared in Step 312, control the stirring rate at 200 - 300 rpm, and continuously mix for 50 minutes until a transparent homogeneous solution is formed;

[0080] Step 314: Place the transparent homogeneous solution prepared in Step 313 in a glass container and dry it in a constant temperature oven at 70 ± 1 °C for 13 - 15 minutes to form a semi-gel state product, which is a semi-gelated eutectic gel.

[0081] Preferably, in Step 1 of the above method, the flexible tube protective housing of a predetermined size is prepared from silicone liquid in the following manner, including: inserting a rod with an outer diameter smaller than the inner diameter of the stainless steel tube into the stainless steel tube and keeping the stainless steel tube and the thin rod concentric. After injecting the silicone liquid into the gap between the thin rod and the stainless steel tube and waiting for the silicone to solidify, the flexible tube protective housing is obtained;

[0082] Preferably, in Step 2 of the above method, the corrosion-resistant strong magnets wrapped with heat shrink tubes of the first corrosion-resistant strong magnet assembly and the corrosion-resistant strong magnets wrapped with heat shrink tubes of the second corrosion-resistant strong magnet assembly are prepared in the following manner, including:

[0083] Put the heat shrink tube on the outside of the corrosion-resistant strong magnet and heat it to make the heat shrink tube completely wrap the corrosion-resistant strong magnet.

[0084] In summary, the magnetic connection flexible gel sensor provided by the present invention uses a flexible tube protective housing to protect the semi-gelatinized eutectic gel filling body, solving the problems that current gel strain sensors are vulnerable to environmental pollution, have poor durability, and are not suitable for complex actual human interaction scenarios. By respectively arranging first and second highly corrosion-resistant strong magnet components at both ends, and the magnetisms of the two strong magnet components are opposite, when multiple sensors are used, magnetic connection of the highly corrosion-resistant strong magnet components can be realized, facilitating disassembly and assembly, overcoming the disadvantages that the connection between the gel sensor and a robot or wearable device is inconvenient and the gel sensor cannot dynamically expand its length. The sensor has the advantages of good protection, convenient connection, disassembly and combination, and uses low-cost materials, facilitating the realization of a series of magnetically connectable and highly durable gel sensors of different scales.

[0085] In order to more clearly demonstrate the technical solutions and the resulting technical effects provided by the present invention, the following uses specific embodiments to describe in detail the solutions provided by the embodiments of the present invention.

[0086] Embodiment 1

[0087] This embodiment provides a magnetic connection flexible gel sensor for human hand motion perception, which is a magnetic connection flexible sensor based on gel material sensing that is not affected by environmental pollution, has good durability, is convenient to connect, is suitable for real human-machine interaction scenarios, and can dynamically expand the length of the sensor. As Figure 1 shown, the sensor includes: a flexible tube protective housing 1, a semi-gelatinized eutectic gel filling body 2, a first highly corrosion-resistant strong magnet component 3, and a second highly corrosion-resistant strong magnet component 4; wherein,

[0088] In this embodiment, the flexible tube protective housing 1 uses a silicone tube protective housing;

[0089] The semi-gelatinized eutectic gel filling body 2 is filled in the middle part arranged in the flexible tube protective housing 1, and both ends of the semi-gelatinized eutectic gel filling body 2 in the flexible tube protective housing 1 are respectively sealed and filled by the first highly corrosion-resistant strong magnet component 3 and the second highly corrosion-resistant strong magnet component 4, and the magnetism of the first highly corrosion-resistant strong magnet component 3 is opposite to the magnetism of the second highly corrosion-resistant strong magnet component 4;

[0090] Both ends of the semi-gelatinized eutectic gel filling body 2 are in full contact with the first highly corrosion-resistant strong magnet component 3 and the second highly corrosion-resistant strong magnet component 4 respectively.

[0091] These sensors can be magnetically connected to form the required length and can be installed on human hand joints or other human joints to detect the movement changes of the joints.

[0092] This sensor provides a sealed environment for the gel material through a silica gel tube housing that serves as a flexible tube protective housing, isolating it from environmental pollution. By setting a first highly corrosion-resistant strong magnet assembly and a second highly corrosion-resistant strong magnet assembly with opposite polarities at both ends, multiple sensors can be quickly connected by magnetic force to extend to different lengths, facilitating installation on wearable devices for hand movement perception. This gel sensor has the advantages of good durability, sensitivity, linear response, and low hysteresis rate, and can adapt to complex human-computer interaction environments. The sensor remains operational after being pressed, twisted, or immersed in water. Since the diameter of the silica gel tube housing can be set as required, this sensor can also be extended to different diameters.

[0093] In this embodiment, both the magnetism of the first highly corrosion-resistant strong magnet assembly 3 and the second highly corrosion-resistant strong magnet assembly 4 at both ends of the gel sensor are of a three-layer structure, that is, the highly corrosion-resistant strong magnet 31 and the heat shrinkable tube 32 are closely attached, and the heat shrinkable tube 32 and the inner side of the silica gel shell are bonded through a silica gel adhesive layer 33. The structure is as Figure 2 shown.

[0094] The gel sensor of this embodiment can adjust the length, diameter, or cross-sectional shape of the silica gel tube, the length, diameter, or shape of the highly corrosion-resistant strong magnet 31 according to the actual usage scenario. Different formulations of silica gel are used to adjust the breaking strength and elastic modulus of the sensor. Different magnets are used to adjust the magnetic force strength of the sensor.

[0095] The gel sensor of this embodiment is prepared by the following steps, including:

[0096] Step 1: Insert a thin rod with a smaller diameter into a stainless steel tube with a larger diameter, keep the stainless steel tube and the thin rod concentric, and inject silica gel liquid into the gap between the thin rod and the stainless steel tube. Wait for two hours to solidify to obtain a silica gel tube housing;

[0097] Step 2: Slip a heat shrinkable tube over the highly corrosion-resistant strong magnet, and after heating, the heat shrinkable tube will wrap the highly corrosion-resistant strong magnet; preferably, the highly corrosion-resistant strong magnet uses a neodymium magnet;

[0098] Step 3: Prepare a semi-gelated eutectic gel, specifically as follows:

[0099] Step 311: Use a deep eutectic solvent, zinc perchlorate hexahydrate (Zn(ClO 4 ) 2 ·6H 2 O) and [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl)ammonium hydroxide as raw materials to prepare a semi-gelated eutectic gel. The deep eutectic solvent is a deep eutectic solvent composed of low-cost choline chloride, ethylene glycol, and urea in a molar ratio of 1:2:1;

[0100] Step 312: Prepare a precursor solution: Weigh 1.4895 g of zinc perchlorate hexahydrate (Zn(ClO 4) 2 ·6H 2 O is dissolved in 2 mL of eutectic solvent, and the stirring rate is controlled at 200 - 300 rpm. Continuous mixing for 50 minutes until a transparent homogeneous solution is formed, which is the precursor solution;

[0101] Step 313, introducing zwitterionic monomer: Add 0.6321 g of [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfopropyl) ammonium hydroxide to the precursor solution obtained in Step 312. Control the stirring rate at 200 - 300 rpm, and continuously mix for 50 minutes until a transparent homogeneous solution is formed;

[0102] Step 314, place the transparent homogeneous solution obtained in Step 312 in a glass bottle and place it in a constant temperature oven at 70 ± 1 °C for 13 - 15 minutes to form a semi-gel state product, which is the semi-gelated eutectic gel.

[0103] Step 4: Use a syringe to inject the semi-gelated eutectic gel into the silicone tube. Assume the cavity volume of the gel tube is V, and the injected gel amount is 1.3V - 2V. Appropriate over-injection can improve the service life of the sensor.

[0104] The specific method of gel injection in this Step 4 is as follows:

[0105] Let the two ends of the silicone tube be the A end and the B end respectively

[0106] Step 41, squeeze the gel into the silicone tube from the A end with a syringe. Stop injecting when the gel reaches a position 2 mm away from the B end;

[0107] Step 42, clamp the silicone tube at a position 2 mm away from the B end with a clip;

[0108] Step 43, continue to inject the remaining gel;

[0109] Step 44, clamp the position 2 mm away from the A end with a clip;

[0110] Step 5, evenly apply silicone adhesive on the surface of the magnet component obtained in the second step, and then insert it into both sides of the silicone tube. The two magnets at both ends of the sensor have opposite magnetic poles on their opposite faces. Wait for 1 hour for the silicone adhesive to completely cure;

[0111] Step 6: Remove the clips used for gel injection in Step 4, and the preparation of the magnetically connected flexible gel sensor is completed.

[0112] The magnetically connected flexible gel sensor for human hand motion perception in this embodiment has the advantages of good durability, good sensitivity, convenient connection, expandable length, and suitability for complex human-computer interaction scenarios, etc. It well solves the problems of poor protection and poor connection expandability of existing gel sensors.

[0113] The specifications and test descriptions of the magnetic connection flexible gel sensor with the following dimensions are as follows according to the attached drawings:

[0114] The magnetism of the first highly corrosion-resistant strong magnet assembly 3 and the diameter of the highly corrosion-resistant strong magnet 31 of the second highly corrosion-resistant strong magnet assembly 4 are 2 mm, the length is 3 mm, the sensor length is 20 mm, the outer diameter of the silicone tube housing is 2.4 mm, and the inner diameter is 1 mm.

[0115] Figure 3 The tensile test of the sensor in this embodiment is shown. During the test, the sensor was stretched from 20 mm to 40 mm in 20 steps. It was observed that the connection was unstable when the strain amplitude exceeded 90%, which was attributed to the insufficient magnetic force to withstand the tension.

[0116] Figure 4 The response curves of the sensor in this embodiment at different rates under 60% strain are shown, indicating its high consistency at different strain rates.

[0117] Figure 5 The tensile test of the sensor in this embodiment is shown. During the test, the sensor was stretched from 20 mm to 24 mm in 40 steps, and the strain resolution of the sensor reached 0.1 mm.

[0118] Figure 6 The resistance change of the sensor in this embodiment during 0 - 230% strain (without considering the influence of magnetic force) is shown. The sensor shows high linearity (R 2 = 0.995)

[0119] Figure 7 The resistance change of the 20-mm-long sensor when it is uniformly stretched to 65% strain and then relaxed to the initial state is shown, and the maximum hysteresis does not exceed 5%.

[0120] Figure 8 The durability of the sensor in this embodiment is shown. We tested the response of the sensor under 1700 stretching and releasing cycles, with a strain amplitude of 100% and a stretching frequency of 0.9H Z . The results show that the sensor can still work normally after 1700 high-intensity rapid cyclic stretches.

[0121] Figure 12 This is the structural schematic diagram of the sensors in this embodiment after magnetic series connection, where 121 is one sensor and 122 is another sensor.

[0122] Figure 13Shows the resistance change of the sensors in this embodiment during cyclic stretching and release after magnetic series connection. In human-computer interaction, flexible sensors often experience compression and torsion. In the pressing test, an 8-N force was applied to the sensor through a 40-mm × 4-mm plastic sheet for 10 minutes, and then a 70% strain cyclic test was carried out. Figure 14 It shows that the initial resistance of the sensor in the present invention changes slightly after pressing and stabilizes within multiple cycles. In the torsion test, the sensor in the present invention was twisted 8 times. Compared with the original state, the resistance change after stretching is greater, but it remains consistent within multiple stretching and release cycles.

[0123] Figure 15 Shows the resistance change of the sensors (except at both ends) in this embodiment during immersion in water for 2 hours. The resistance decreased by 5.8%.

[0124] The above tests show that the sensors in this embodiment have the ability to adapt to complex human-computer interaction scenarios, indicating that the sensors still have normal functions after being pressed, twisted, and partially immersed in water.

[0125] Embodiment 2

[0126] As Figures 1 to 15 shown, this embodiment provides a magnetic-connected flexible gel sensor for hand motion perception, including: a silica gel tube protective shell 1, a semi-gelatinized eutectic gel filling body 2, a first corrosion-resistant strong magnet assembly 3, and a second corrosion-resistant strong magnet assembly 4;

[0127] Among them, the material of the silica gel tube protective shell is Ecoflex-0010, the outer diameter is 2.4 mm, the inner diameter is 1 mm, the magnet electrode is a neodymium iron boron strong magnet with nickel-copper-nickel triple electroplating treatment, size: diameter 2 mm, length 3 mm. The silica gel adhesive used for the first corrosion-resistant strong magnet assembly 3 and the second corrosion-resistant strong magnet assembly 4 is Sil-Poxy or a silica gel adhesive with a similar function, and the heat shrinkable tube is a polyolefin material heat shrinkable tube.

[0128] Both ends of the fabricated flexible gel sensor are fixed at both ends of the finger joints of the human hand. When the human hand performs different types of gesture activities, the resistance of the flexible gel sensor changes after being stretched to reflect the stretching amplitude, and the signal acquisition device collects continuous signal changes to analyze the type of hand activity.

[0129] The application method of the magnetic-connected flexible gel sensor for gesture perception in this embodiment includes the following steps: The first step: Wear a flexible glove with a magnetic connection base on the human hand;

[0130] The second step: Adsorb the magnetic-connected flexible gel sensor at different positions according to different perception tasks;

[0131] Step 3: Turn-on voltage. A pair of magnetic connection bases are supplied with 3.5V DC power. The magnetically-connected flexible gel sensor is connected to the data acquisition circuit;

[0132] Step 4: Perform hand movements while collecting the resistance or voltage division changes of the magnetically-connected flexible gel sensor;

[0133] Step 5: Through the analysis and learning of the data collected by the magnetically-connected flexible gel sensor, realize the perception of hand activities and the recognition of gesture actions;

[0134] Step 6: If the sensor is damaged or fails, directly remove it and replace it with a new magnetically-connected flexible gel sensor. The connection method is magnetic adsorption.

[0135] Figure 9 Shows a schematic diagram of the application of the sensor of the present invention to a wearable device. It includes 8 magnetically-connected flexible gel sensors of Embodiment 1, among which 3 magnetically-connected flexible gel sensors are arranged on the index finger joint, respectively located on the distal interphalangeal joint 91, the proximal interphalangeal joint 92 and the metacarpophalangeal joint 93. 3 magnetically-connected flexible gel sensors are located on the middle finger joint, respectively located on the distal interphalangeal joint 94, the proximal interphalangeal joint 95 and the metacarpophalangeal joint 96. 1 magnetically-connected flexible gel sensor is located on the carpometacarpal joint 97 of the thumb, and one magnetically-connected flexible gel sensor is located on the radiocarpal joint 98.

[0136] Figure 10 Shows some types of hand activities of the wearable device wearing the sensor of the present invention, including simulating keyboard clicks, drawing simple graphics, and writing capital letters. The rules for performing hand movements are as follows:

[0137] When performing a simulated keyboard click, the forearm remains stationary. The index finger starts from the initial position of the number "5", moves towards the target number and clicks, and finally returns to the initial position. When performing the activity of drawing simple graphics, the forearm remains stationary. The index finger starts from the initial position and draws a square, a triangle, a circle, a tick, a cross, and straight line movements in the four directions of up, down, left, and right according to the illustrated strokes, and finally returns to the initial position. When performing the activity of writing capital letters, the forearm remains stationary. The index finger starts from the initial position and writes capital letters according to the illustrated strokes, and finally returns to the initial position.

[0138] Figure 11 Shows Figure 10 the signals corresponding to hand activities. The signal sampling frequency is 2000H Z .

[0139] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The information disclosed in the background art part of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that this information constitutes the prior art known to those skilled in the art.

Claims

1. A magnetically connected flexible gel sensor for sensing hand movements, characterized in that: include: A flexible tube protective shell (1), a semi-gelled eutectic gel filling body (2), a first corrosion-resistant strong magnet component (3) and a second corrosion-resistant strong magnet component (4); wherein: The semi-gelled eutectic gel filling body (2) fills the middle part of the flexible tube protective shell (1), and the flexible tube protective shell (1) at both ends of the semi-gelled eutectic gel filling body (2) is sealed and filled with the first corrosion-resistant strong magnet component (3) and the second corrosion-resistant strong magnet component (4), respectively, and the magnetism of the first corrosion-resistant strong magnet component (3) is opposite to the magnetism of the second corrosion-resistant strong magnet component (4); Both ends of the semi-gelled eutectic gel filling body (2) are in full contact with the first corrosion-resistant strong magnet component (3) and the second corrosion-resistant strong magnet component (4), respectively.

2. The magnetically connected flexible gel sensor for sensing hand movements according to claim 1, characterized in that: The first corrosion-resistant strong magnet assembly (3) and the second corrosion-resistant strong magnet assembly (4) have the same structure. The first corrosion-resistant strong magnet assembly (3) comprises: A corrosion-resistant strong magnet (31), a heat shrink tube (32) and a silicone adhesive layer (33); wherein: The heat shrink tube (32) completely wraps the corrosion-resistant strong magnet (31), and the outside of the heat shrink tube (32) is coated with the silicone adhesive layer (33), and the silicone adhesive layer (33) can be sealed and bonded to the inner surface of the end of the flexible tube protective shell (1).

3. The magnetically connected flexible gel sensor for sensing hand movements according to claim 2, characterized in that: The corrosion-resistant strong magnet (31) is a NdFeB strong magnet with a cylindrical structure.

4. The magnetically connected flexible gel sensor for sensing hand movements according to any one of claims 2 to 3, characterized in that: The semi-gelled eutectic gel filler (2) is a semi-gelled eutectic gel filler.

5. The magnetically connected flexible gel sensor for sensing hand movements according to claim 4, characterized in that: The semi-gelled eutectic gel used in the semi-gelled eutectic gel filling body is prepared in the following manner, including: Step 311, using a deep eutectic solvent, zinc perchlorate hexahydrate and [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfonic acid propyl)ammonium hydroxide as raw materials, wherein the deep eutectic solvent is a deep eutectic solvent composed of choline chloride, ethylene glycol and urea in a molar ratio of 1:2:1; Step 312, preparing a precursor solution: weighing 1.4895 g of zinc perchlorate hexahydrate and dissolving it in 2 mL of a deep eutectic solvent, controlling the stirring rate to 200-300 rpm, and continuously mixing for 50 minutes until a transparent homogeneous solution is formed, which is the precursor solution; Step 313, introducing zwitterionic monomers: adding 0.6321 g of [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfonic acid propyl)ammonium hydroxide to the precursor solution prepared in step 312, controlling the stirring rate to 200-300 rpm, and continuously mixing for 50 minutes until a transparent homogeneous solution is formed; Step 314, placing the transparent homogeneous solution obtained in step 313 in a glass container, placing it in a constant temperature oven at 70±1°C for drying for 13 to 15 minutes to form a semi-gel state product, namely, a semi-gelled eutectic gel.

6. A method for preparing the magnetically connected flexible gel sensor for sensing hand movements according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1, preparing a flexible pipe protective shell of a predetermined size; Step 2, respectively preparing a corrosion-resistant strong magnet wrapped in a heat shrink tube of the first corrosion-resistant strong magnet assembly and a corrosion-resistant strong magnet wrapped in a heat shrink tube of the second corrosion-resistant strong magnet assembly, wherein the two corrosion-resistant strong magnets have opposite magnetic properties; Step 3, using a syringe to inject the pre-prepared semi-gelled eutectic gel with a moderately excessive amount of gel into the middle part of the protective shell of the flexible tube in step 1 to form a semi-gelled eutectic gel filling body; Step 4, coating silicone adhesive on the surface of the heat shrink tube wrapped around the corrosion-resistant strong magnets of the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly to form a silicone adhesive layer; Step 5, insert the first corrosion-resistant strong magnet assembly and the second corrosion-resistant strong magnet assembly obtained in step 4 into the two ends of the flexible tube protective shell respectively, and both are in full contact with the semi-gelled eutectic gel filling body in the flexible tube protective shell. After being sealed and bonded to the two ends of the flexible tube protective shell and completely cured, a magnetically connected flexible gel sensor for sensing human hand movements is obtained.

7. The method for preparing the magnetically connected flexible gel sensor for sensing hand movements according to claim 6, characterized in that: In step 3, the pre-prepared semi-gelled eutectic gel is injected into the middle part of the flexible tube protective shell in step 1 with a syringe in a moderately excessive amount of gel: If the volume inside the flexible tube protective shell is V, the appropriate excess gel amount is 1.3V to 2V.

8. The method for preparing the magnetically connected flexible gel sensor for sensing hand movements according to claim 6, characterized in that: In the step 3, the middle part of the flexible tube protective shell is filled with semi-gelled eutectic gel in the following manner, including: Step 31, if the two ends of the flexible tube protective shell are end A and end B respectively, inject the semi-gelled eutectic gel into the flexible tube protective shell from one end with a syringe, and stop injecting when the gel position reaches a position 2 mm away from end B; Step 32, clamping the B end of the flexible tube protective shell with a clamp at a distance of 2 mm from the B end of the flexible tube protective shell; Step 33, continue injecting the remaining semi-gelled eutectic gel; Step 34, use another clamp to clamp the A end of the flexible tube protective shell 2 mm away from the A end of the flexible tube protective shell.

9. The method for preparing a magnetically connected flexible gel sensor for sensing hand movements according to any one of claims 6 to 8, characterized in that: In the step 3, the semi-gelled eutectic gel is prepared in the following manner, including: Step 311, using a deep eutectic solvent, zinc perchlorate hexahydrate and [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfonic acid propyl)ammonium hydroxide as raw materials, wherein the deep eutectic solvent is a deep eutectic solvent composed of choline chloride, ethylene glycol and urea in a molar ratio of 1:2:1; Step 312, preparing a precursor solution: weighing 1.4895 g of zinc perchlorate hexahydrate and dissolving it in 2 mL of a deep eutectic solvent, controlling the stirring rate to 200-300 rpm, and continuously mixing for 50 minutes until a transparent homogeneous solution is formed, which is the precursor solution; Step 313, introducing zwitterionic monomers: adding 0.6321 g of [2-(methacryloyloxy)ethyl]dimethyl-(3-sulfonic acid propyl)ammonium hydroxide to the precursor solution prepared in step 312, controlling the stirring rate to 200-300 rpm, and continuously mixing for 50 minutes until a transparent homogeneous solution is formed; Step 314, placing the transparent homogeneous solution obtained in step 313 in a glass container, placing it in a constant temperature oven at 70±1°C for drying for 13 to 15 minutes to form a semi-gel state product, namely, a semi-gelled eutectic gel.

10. The method for preparing a magnetically connected flexible gel sensor for sensing hand movements according to any one of claims 6 to 8, characterized in that: In the step 1, a flexible tube protective shell of a predetermined size is prepared by using silicone liquid in the following manner, including: inserting a rod having an outer diameter smaller than an inner diameter of a stainless steel tube into the stainless steel tube, and keeping the stainless steel tube and the thin rod concentric, injecting silicone liquid into the gap between the thin rod and the stainless steel tube, and waiting for the silicone to solidify, thereby obtaining the flexible tube protective shell; In the step 2, the corrosion-resistant strong magnet wrapped in a heat shrink tube of the first corrosion-resistant strong magnet assembly and the corrosion-resistant strong magnet wrapped in a heat shrink tube of the second corrosion-resistant strong magnet assembly are prepared in the following manner, including: The heat shrink tube is put on the outside of the corrosion-resistant strong magnet, and after heating, the heat shrink tube is made to completely wrap the corrosion-resistant strong magnet.

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