Flexible sensor testing device and method, storage medium and program product

Abstract

The invention discloses a flexible sensor testing device and method, a storage medium and a program product. The flexible sensor performance testing device comprises a supporting structure, a mobile platform, a clamping piece and a rotating piece. The supporting structure extends in the first direction, and the surface of the supporting structure can generate various preset deformations and is attached to the flexible sensor. The movable platform fixes one end of the supporting structure and can adjust the effective length of the supporting structure and apply multiple deformation modes by driving the clamping piece to be close to or away from the fixed end. The rotating part can drive the clamping part to rotate around the axis inclined to the first plane, and the moving platform and the rotating part cooperatively act and can apply any one of stretching, pure bending, perfect circle bending, S-shaped bending or composite deformation to the flexible sensor. The method can accurately simulate the working condition of a multi-deformation composite mode, is more suitable for the actual use scene of the flexible sensor, and improves the reliability of a test result.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation detection technology, in particular to a flexible sensor testing device, method, storage medium and program product. BACKGROUND

[0002] In emerging fields such as personalized medicine, wearable devices, human-computer interaction and soft robots, flexible sensors have become the core elements for real-time monitoring of human joint angles, circumference changes and dynamic physiological signals due to their flexibility, stretchability and conformal attachment capabilities. They need to be attached to the skin, joints or complex curved surfaces for a long time, and repeatedly experience complex mechanical environments such as stretching, bending and even their superposition. In order to provide reliable data for preventive intervention and remote diagnosis and treatment, their electrical or optical output must maintain high sensitivity and long-term stability.

[0003] However, most existing testing devices can only apply a single deformation mode, making it difficult to reproduce the multi-deformation mode coupling conditions in real use, resulting in a serious deviation between the performance parameters measured in the laboratory and the actual performance, making it difficult to guide engineering selection and reliability evaluation. SUMMARY

[0004] The main purpose of the present application is to provide a flexible sensor testing device, method, storage medium and program product, which can accurately simulate the working conditions of multiple deformation modes, better fit the actual use scene of flexible sensors, and improve the reliability of test results.

[0005] To achieve the above purpose, some embodiments of the present application provide a flexible sensor performance testing device, comprising: a support structure having a surface extending in a first direction and capable of producing a plurality of preset deformations, the surface being adapted to fit the flexible sensor; a moving platform, one end of the support structure is fixed to the moving platform along the first direction; a clamping piece connected to the moving platform, the clamping piece is configured to be movable in a first plane, the clamping piece is movably connected to the support structure, and the clamping piece is configured to be close to or away from the fixed end of the support structure to adjust the length of the support structure adapted to fit the flexible sensor and apply a plurality of deformation modes; a rotating piece connected to the moving platform and the clamping piece respectively, the rotating piece being capable of driving the clamping piece to rotate around a direction inclined to the first plane; wherein the moving platform and the rotating piece act in conjunction to apply any one of stretching, pure bending, positive circular bending, S-shaped bending or composite deformation to the flexible sensor.

[0006] In some embodiments, the rotation axis of the rotating piece is perpendicular to the first plane; or, the rotation axis of the rotating piece forms a preset angle with the first plane to introduce bending moment while stretching.

[0007] In some embodiments, the mobile platform comprises an orthogonal platform, the orthogonal platform comprising a Y-axis moving assembly and an X-axis moving assembly, the X-axis moving assembly being connected to the Y-axis moving assembly, the holding member being connected to the X-axis moving assembly through the rotating member.

[0008] In some embodiments, the Y-axis moving assembly comprises a first driving member, a first sliding rail and a first sliding block, the first sliding rail extending along a Y-axis direction, the first sliding block being slidingly connected to the first sliding rail, the first driving member being capable of driving the first sliding block to move along the Y-axis direction; The X-axis moving assembly is connected to a second sliding block, the X-axis moving assembly comprising a second driving member, a second sliding rail and the second sliding block, the second sliding rail extending along an X-axis direction, the second sliding block being slidingly connected to the second sliding rail, the second driving member being capable of driving the second sliding block to move along the X-axis direction, the X-axis direction being orthogonal to the Y-axis direction.

[0009] In some embodiments, the mobile platform comprises a series platform, the series platform comprising a first rotating arm, a second rotating arm and a third rotating arm, the second rotating arm being rotatably connected to the first rotating arm, the third rotating arm being rotatably connected to the second rotating arm, the holding member being connected to the third rotating arm through the rotating member.

[0010] In some embodiments, the series platform comprises a fixed base, the first rotating arm comprising a first joint, a first connecting rod and a third driving member, one end of the first connecting rod being pivotally connected to the fixed base through the first joint, the third driving member being capable of driving the first connecting rod to rotate about the first joint; The second rotating arm comprises a second joint, a second connecting rod and a fourth driving member, one end of the second connecting rod being pivotally connected to the other end of the first connecting rod through the second joint, the fourth driving member being capable of driving the second connecting rod to rotate about the second joint; The third rotating arm comprises a third joint, a third connecting rod and a fifth driving member, one end of the third connecting rod being pivotally connected to the other end of the second connecting rod through the third joint, the fifth driving member being capable of driving the third connecting rod to rotate about the third joint, the rotating member being connected to the other end of the third connecting rod.

[0011] In some embodiments, the holding member comprises a clamp body, a locking mechanism and a sensing interface, the clamp body being connected to the rotating member, the locking mechanism being connected to the clamp body respectively, the locking mechanism being configured to be capable of clamping or releasing the support structure, the sensing interface being used for electrically connecting the flexible sensor to collect a response signal.

[0012] In some embodiments, the locking mechanism comprises a brake motor and a clamping jaw, the brake motor being installed on the clamp body, the clamping jaw being connected to the brake motor, the brake motor being capable of driving the clamping jaw to clamp or release the support structure.

[0013] In some embodiments, the support structure is configured to be at least one of a sheet structure, a rod structure or a bendable belt structure; and / or, The material of the support structure has elastic recovery performance and can restore to the original state after multiple deformations.

[0014] In some embodiments, the flexible sensor performance testing device further comprises: a sensing module configured to collect electrical signals, optical signals, or a combination thereof of the flexible sensor during the deformation; a processing module in communication with the sensing module and configured to process the signals.

[0015] Embodiments of the second aspect of the present application provide a testing method, which comprises any one of the flexible sensor performance testing devices described above, and the testing method comprises: attaching the flexible sensor to the support structure; applying a preset deformation mode to the flexible sensor by controlling the movement of the moving platform and the rotating member; collecting response signals of the flexible sensor in real time during the deformation; analyzing the response signals to obtain performance parameters of the flexible sensor under the deformation mode.

[0016] Embodiments of the third aspect of the present application provide a computer readable storage medium, which stores a processor executable program, and the processor executable program is executed by a processor to implement the testing method described above.

[0017] Embodiments of the fourth aspect of the present application provide a computer program product, which comprises a computer program or computer instructions, characterized in that the computer program or computer instructions are stored in a computer readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer readable storage medium, and the processor executes the computer program or computer instructions to make the computer device execute the testing method described above.

[0018] According to the above embodiments, the present application has the following beneficial effects: The flexible sensor performance testing device of the present application comprises a support structure, a moving platform, a clamping piece and a rotating piece. The support structure has a surface extending along a first direction and capable of generating a plurality of preset deformations, and the surface of the support structure is suitable for fitting the flexible sensor, thereby providing the flexible sensor with continuous and repeatable mechanical boundary conditions. Along the first direction, one end of the support structure is fixed to the moving platform, and the moving platform is capable of driving the clamping piece to move in a first plane. In this way, on the one hand, the effective length of the support structure for fitting the flexible sensor can be adjusted by adjusting the distance between the clamping piece and the fixed end of the support structure, thereby applying controllable stretching in a stepless range; on the other hand, the clamping piece can be controlled to make the support structure generate a preset deformation, thereby making the flexible sensor fitted on the surface of the support structure generate a preset deformation, for example, the clamping piece is driven to move along a direction oblique to the first direction, thereby making the support structure bend. It can be understood that the present application can stretch the support structure while bending the support structure. The rotating piece is connected to the moving platform and the clamping piece respectively, and the rotating piece is capable of driving the clamping piece to rotate around an axis oblique to the first plane. In this way, the control of the clamping piece on the support structure can introduce the effect of bending moment in the same plane in real time, thereby making the flexible sensor form a pure bending or a complex shape with continuously changing curvature along with the support structure. The flexible sensor performance testing device of the present application has the advantages of modular structure, high automation degree, clear driving logic and high deformation freedom of the support structure. The modular design ensures that the device can quickly adapt to flexible sensors of different sizes and different materials.

[0019] In summary, the present application can accurately simulate the working conditions of multiple deformation composite modes, better fit the actual use scenarios of flexible sensors, improve the reliability of test results, realize the real reproduction of the full-working-condition deformation environment of flexible sensors in a single hardware platform, and also realize the performance testing of multiple sensors, thereby having strong universality, good versatility, rapid response and high accuracy.

[0020] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0022] Figure 1 It is an embodiment of the present application to observe the structure of the displacement platform along the first visual angle. Figure 2This is a schematic diagram of the displacement platform viewed from a second perspective in one embodiment of the present invention; Figure 3 This is a schematic diagram of the displacement platform viewed from a third-person perspective in one embodiment of the present invention; Figure 4 This is a schematic diagram of the orthogonal platform viewed from a fourth perspective in one embodiment of the present invention; Figure 5 This is a partial structural diagram of an orthogonal platform in one embodiment of the present invention, intended to illustrate the linkage between the clamping component, the rotating component, and the supporting structure; Figure 6 To observe from another perspective Figure 5 A partial structural diagram of the orthogonal platform; Figure 7 for Figure 5 An exploded view of the partial structure of the orthogonal platform shown. Figure 8 This is a schematic diagram of the structure of a displacement platform viewed from a fifth perspective in one embodiment of the present invention, wherein the displacement platform is a series platform; Figure 9 This is a schematic diagram of the displacement platform as viewed from a sixth perspective in one embodiment of the present invention, wherein the displacement platform is a series platform; Figure 10 This is a schematic diagram of the structure of the series platform as viewed from a seventh perspective in one embodiment of the present invention; Figure 11 for Figure 10 A schematic diagram of the structure of the sensor motion end clamp; Figure 12 This is a flowchart of a testing method in one embodiment of the present invention; Figure 13 This invention provides the active axis coordinates of the test bench under pure circular bending and zero-moment bending test modes when the test sample length is 100mm. Figure 14 This invention relates to the active axis coordinates of the test platform in the pure circular bending and zero torque bending test modes when the test sample length is 300mm. Figure 15 This invention relates to the active axis coordinates of the test stage in the pure circular bending and zero torque bending test modes when the test sample length is 500mm.

[0023] Explanation of icon numbers: Support structure 100; Mobile platform 200; Orthogonal platform 210; Y-axis moving assembly 211; X-axis moving assembly 212; Serial platform 220; First rotating arm 221; Second rotating arm 222; Third rotating arm 223; Fixed base 224; Clamp 300; clamp body 310; sensing interface 320; locking mechanism 330; Rotary part 400 Figure 4 Orthogonal platform 10; brake motor 11; Y-axis screw module I 12; support structure 13; sensor moving end clamp 14; R-axis motor 15; X-axis motor 16; Y-axis motor 17; commutator I 18; sensor stationary end clamp 19; transmission shaft 20; X-axis screw module 21; Y-axis screw module II 22; commutator II 23 Figure 10 Series platform 30; load universal wheel 31; sensor moving end clamp 32; R3 motor 33; L2 connecting rod 34; R2 motor 35; L1 connecting rod 36; sensor stationary end clamp 37; demodulator support 38; R1 motor support 39; R1 motor 40; R2 motor support 41; R3 motor support 42 Figure 11 Sensor moving end clamp body 43; driving wheel set 44; transmission gear 45; motor support 46; driving motor 47; optical displacement sensor 48; passive wheel set 49

[0024] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0026] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0027] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes include the A scheme, or the B scheme, or the A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art; when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0028] In the related art, flexible sensors often need to withstand various complex deformation modes in actual application, including bending, stretching, and their combined loading. However, most of the existing sensor performance testing devices can only apply a single deformation mode, and lack a unified testing (metrological) standard for the application of bending deformation. This not only cannot fully simulate the complex and variable deformation state of flexible sensors in actual use, but also makes it difficult to obtain their performance parameters in real environments, affecting the scientificity and effectiveness of sensor performance evaluation. Therefore, there is an urgent need for a testing device and method that can flexibly apply load under diversified deformation modes (including stretching, pure bending, right circular bending, S-shaped bending, etc.), and support stretching-bending and other multi-combined / decoupled loading. The device also needs to integrate the coupling and decoupling analysis capabilities of deformation-related optical and electrical signals, so as to realize the systematic performance evaluation of flexible sensors, including their optical and electrical sensing response characteristics under multi-mode deformation, anti-interference ability and long-term stability. The establishment of such a testing device and method plays an important supporting role in promoting the transformation of flexible sensors from laboratory research to engineering application. In addition, the material fatigue performance testing devices in the prior art are mostly designed for rigid materials, which cannot meet the testing needs of flexible electronic devices for low load and high sensitivity electrical response. The device has single function, can only realize single mode loading of stretching or bending, cannot apply stretching and bending combined load, and lacks precise control and decoupling analysis capabilities for multi-mode mechanical-electrical response. The structure is mostly limited to simple clamps and mechanical loading, and cannot simulate the complex multi-axis and multi-mode deformation conditions of flexible devices in actual service environment, which restricts their application in flexible sensor performance evaluation.

[0029] Therefore, existing technologies cannot comprehensively and effectively solve the problem of coupling and decoupling performance testing of flexible sensors under tensile and bending combined loads. They have the defects of single testing and inability to achieve multi-mode loading and performance decoupling. It is necessary to develop a dedicated testing device and method with the functions of independent application of tensile and bending and combined loading, and capable of realizing electrical performance coupling and decoupling analysis.

[0030] The following is for reference. Figures 1 to 15 This application describes a flexible sensor testing apparatus, method, storage medium, and program product according to embodiments of the present application. (Refer to...) Figures 1 to 3 In some embodiments, the flexible sensor performance testing device includes a support structure 100, a moving platform 200, a clamping member 300, and a rotating member 400. The support structure 100 has a surface extending along a first direction and capable of producing various preset deformations. The surface of the support structure 100 is suitable for conforming to the flexible sensor, providing continuous and repeatable mechanical boundary conditions for the flexible sensor. Along the first direction, one end of the support structure 100 is fixed to the moving platform 200, which can drive the clamping member 300 to move within a first plane. This design allows, on the one hand, the effective length of the support structure 100 for conforming to the flexible sensor to be adjusted by regulating the distance from the clamping member 300 to the fixed end of the support structure 100, applying controllable tension within a stepless range; on the other hand, by controlling the clamping member 300, the support structure 100 can produce preset deformations, thereby causing the flexible sensor conforming to the surface of the support structure 100 to produce preset deformations, such as driving the clamping member 300 to move in a direction inclined to the first direction, causing the support structure 100 to bend. It is understood that this application is capable of bending the support structure 100 while simultaneously stretching it. (Refer to...) Figures 5 to 7 The rotating component 400 is connected to both the moving platform 200 and the clamping component 300. The rotating component 400 drives the clamping component 300 to rotate around an axis inclined to the first plane. This design allows the clamping component 300 to control the support structure 100 in an instantaneous manner within the same plane, introducing a bending moment that causes the flexible sensor to form a complex shape with pure bending or continuously changing curvature along with the support structure 100. The flexible sensor performance testing device of this application features a modular structure, high degree of automation, clear driving logic, and the support structure 100 possesses extremely high deformation freedom. The modular design ensures that the device can be quickly adapted to flexible sensors of different sizes and materials.

[0031] In summary, this application can accurately simulate the working conditions of multiple deformation composite modes, which is more in line with the actual application scenarios of flexible sensors and improves the reliability of test results. It can not only realize the real reproduction of the full working condition deformation environment of flexible sensors within a single hardware platform, but also realize the performance testing of multiple sensors. It has strong universality, good versatility, and rapid and accurate response.

[0032] Regarding the clamping piece 300, it should be noted that in some embodiments, the clamping piece 300 simultaneously serves as a clamping function of the support structure 100 and the flexible sensor. Specifically, the clamping piece 300 is internally provided with a double-channel clamping groove or a split clamping jaw, which clamps one side of the end of the support structure 100 and the other side of the corresponding end of the flexible sensor. Alternatively, the same clamping surface is used to press the support structure 100 and the flexible sensor at one time through an elastic gasket. With the integrated clamping design, the support structure 100 and the flexible sensor always maintain synchronization during length adjustment, rotation loading and composite deformation, realizing linkage deformation. Such design not only reduces the number of additional fixing devices and the complexity of the system, but also provides higher repeatability and more realistic boundary conditions.

[0033] In some embodiments, the clamping piece 300 is configured to apply mechanical constraints only to both ends of the support structure 100 and the flexible sensor, and the clamping jaw or locking mechanism 330 directly acts on the end or side edge of the support structure 100, so that the support structure 100 produces stretching, bending or composite deformation through the coordinated movement of the moving platform 200 and the rotating piece 400. The main body of the flexible sensor except the two ends is not directly clamped by the clamping piece 300, but is detachably attached to the deformation surface of the support structure 100 through independent attachment devices such as vacuum adsorption strips, magnetic seats, elastic pressing pieces or low-temperature peelable adhesive layers. In this way, when the support structure 100 is pre-deformed under external driving, the flexible sensor can be passively deformed synchronously along the curved surface profile, ensuring that the flexible sensor deforms according to the preset mode, avoiding potential damage to the sensor sensitive area by clamping force, and facilitating quick replacement of different specifications or different types of flexible sensors, improving the versatility and testing efficiency of the device.

[0034] In some embodiments, the coordinated action of the moving platform 200 and the rotating piece 400 is driven by the upper control command, so that the flexible sensor performance testing device can switch between different deformation modes in a very short time without changing the clamp or repositioning, shortening the test cycle. In addition, such design further improves the automation degree of the present application, which can reduce the cumulative error and back gap, ensure the control accuracy of the device and the control of the deformation of the flexible sensor.

[0035] In some embodiments, when only tensile deformation is needed to be applied to the flexible sensor, the moving platform 200 moves linearly along the first direction, driving the clamping member 300 away from the fixed end of the support structure 100. At this time, the rotating member 400 keeps the rotation axis parallel to the first plane or is locked, and does not generate any bending moment. The support structure 100 is straightened synchronously by the clamping member 300, and the surface thereof keeps adhering to the flexible sensor and the radius of curvature tends to infinity. By controlling the displacement amount of the moving platform 200 applied to the clamping member 300, programmable axial tension along the first direction on the sensor can be obtained, and pure tensile working condition without additional bending is realized.

[0036] In some embodiments, when pure bending deformation needs to be realized, the moving platform 200 first locks the displacement thereof along the first direction, and only the rotating member 400 drives the clamping member 300 to rotate around the axis perpendicular to the first plane, so that the support structure 100 forms a circular arc with constant curvature. At this time, the effective length of the support structure 100 remains unchanged, the flexible sensor adheres to the arc surface and is uniformly bent, and the bending moment is linearly distributed along the longitudinal direction thereof; by adjusting the rotation angle of the rotating member 400, the radius of curvature can be controlled, so that pure bending loading is realized without axial tension.

[0037] In some embodiments, when a circular bending needs to be realized, the moving platform 200 and the rotating member 400 act cooperatively: the moving platform 200 advances step by step in the first direction with a step distance of πD / 2, so that the support structure 100 forms a semicircle between the end fixed to the moving platform 200 and the clamping member 300. Subsequently, the rotating member 400 continues to drive the clamping member 300 to rotate by 180°, while the moving platform 200 continues to advance by the remaining πD / 2 distance, until the support structure 100 is closed to form a complete circle. The flexible sensor adheres to the outer surface of the support structure 100 throughout the process, realizing uniform bending of the 360° closed circular ring, and the curvatures of all points are equal.

[0038] In some embodiments, when S-shaped bending needs to be realized, the moving platform 200 first advances to a first inflection point position along the first direction, while the rotating member 400 rotates forward to form a first reverse curvature; subsequently, the rotating member 400 is quickly reversed at the inflection point, and the moving platform 200 continues to advance and adjusts the step distance, so that the support structure 100 forms a second circular arc with a second reverse curvature. The radii of curvature of the two circular arcs are equal and opposite in direction, smoothly connected into a continuous S shape, the flexible sensor adheres to the deformation along the double curve path, and the simulation of complex multi-curvature working conditions is realized.

[0039] In some embodiments, when composite deformation needs to be achieved, the linear displacement of the moving platform 200 and the angular displacement of the rotating member 400 are coupled in real time for control, the moving platform 200 provides an axial stretching or compression component, and the rotating member 400 synchronously applies a bending moment component, both of which are superimposed according to a preset function relationship. By adjusting the displacement, the rotation angle ratio and the phase, a plurality of composite deformations such as stretching and bending, stretching and S-shaped bending, or bending and torsion can be continuously obtained in the same test period, the flexible sensor simultaneously bears a plurality of axial loads, and the complex mechanical state in the actual application environment is realized.

[0040] In some embodiments, the support structure 100 can be composed of a plurality of sheet structures, each of which is connected through an elastic element to realize a more complex deformation mode. Such a design allows more accurate simulation of the stress state in the actual application environment, improves the relevance and reliability of the test results. In addition, a fitting device with temperature control function can be added to the support structure 100, and the influence of temperature on the performance of the flexible sensor can be studied by heating or cooling.

[0041] Referring to Figure 4 and Figure 5 In some embodiments, the rotation axis of the rotating member 400 is perpendicular to the first plane. When the rotation axis of the rotating member 400 is perpendicular, the rotating member 400 only generates a pure bending moment, which is completely decoupled from the linear displacement of the moving platform 200, so that accurate pure bending, positive circular bending or S-shaped bending can be obtained independently without increasing the axial stretching.

[0042] In some embodiments, the rotation axis of the rotating member 400 forms a preset angle with the first plane to introduce a bending moment while stretching. When the rotation axis is inclined, the movement of the rotating member 400 not only causes the torsion of the support structure 100, but also causes additional bending effect, which facilitates the realization of stretching and bending at the same time, and is beneficial to more realistically simulate the complex stress conditions in the actual situation.

[0043] In some embodiments, the rotation axis angle of the rotating member 400 can be dynamically adjusted as needed. For example, the rotating member 400 is driven by a servo motor, so that it can change the angle in real time during the test, thereby realizing the immediate regulation and control of the composite deformation mode. This way can simulate more complex and variable actual use scenarios.

[0044] In some embodiments, a feedback control system is integrated on the rotating member 400, which can monitor the deformation of the support structure 100 and automatically adjust the position and speed of the rotating member 400 according to the preset target value. For example, if it is detected that the current deformation deviates from the expectation, the system will immediately respond to adjust the operating parameters of the rotating member 400 until the ideal deformation mode is reached. This method not only improves the accuracy of the test, but also enhances the controllability and repeatability of the experimental results.

[0045] Referring to Figure 1 , Figures 4 to 7 In some embodiments, the mobile platform 200 comprises an orthogonal platform 210, which comprises a Y-axis moving assembly 211 and an X-axis moving assembly 212 connected to the Y-axis moving assembly 211, and the holder 300 is connected to the X-axis moving assembly 212 through the rotating member 400. This design enables the holder 300 to move freely in a two-dimensional plane and rotate around a direction inclined to the first plane. For example, the Y-axis moving assembly 211 provides movement in the vertical direction, and the X-axis moving assembly 212 provides movement in the horizontal direction. At the same time, since the X-axis moving assembly 212 directly carries the rotating member 400 and the holder 300, the inertia of the entire motion chain is reduced and the response speed is improved.

[0046] Specifically, the surface of the support structure 100 can be attached to a flexible sensor and adjusted in length and deformation mode as needed. When the Y-axis moving assembly 211 moves the holder 300 up or down, the support structure 100 will be stretched or compressed, and when the X-axis moving assembly 212 is horizontally displaced, the support structure 100 can be bent. In addition, the action of the rotating member 400 further enriches the deformation mode, making it not limited to simple stretching or bending, but also achieving more complex S-shaped or composite deformation.

[0047] In some embodiments, the orthogonal platform 210 adds a Z-axis moving assembly. For example, the Z-axis moving assembly can be installed on the Y-axis moving assembly 211 to provide adjustment capability in the up-down direction. Such improvements enable the test device not only to operate in a two-dimensional plane, but also to perform more complex deformation experiments in a three-dimensional space. For example, by simultaneously controlling the movement in the X, Y, and Z directions, the study of the stress conditions of the flexible sensor at different angles and positions can be realized.

[0048] Referring to Figure 1 , Figures 4 to 7In some embodiments, the Y-axis moving assembly 211 includes a first driving member, a first sliding rail extending along the Y-axis direction, and a first sliding block slidingly connected to the first sliding rail, and the first driving member is capable of driving the first sliding block to move along the Y-axis direction. The X-axis moving assembly 212 is connected to a second sliding block, and the X-axis moving assembly 212 includes a second driving member, a second sliding rail extending along the X-axis direction, and a second sliding block slidingly connected to the second sliding rail, and the second driving member is capable of driving the second sliding block to move along the X-axis direction, and the X-axis direction and the Y-axis direction are perpendicular to each other. In this way, by using the power provided by the driving members, the linear motion control of the clamping member 300 is realized through the cooperation of the sliding rails and the sliding blocks. When the first driving member works, it drives the first sliding block to move along the first sliding rail, thereby changing the position of the clamping member 300 in the Y-axis direction. When the second driving member works, it drives the second sliding block to move along the second sliding rail, thereby changing the position of the clamping member 300 in the X-axis direction. Since the X-axis and the Y-axis are perpendicular to each other, the combination of the two can cover the entire plane area and provide omnidirectional motion support. In some embodiments, in order to facilitate operation, the X-axis and the Y-axis are perpendicular to each other.

[0049] This split slide structure makes each displacement correspond to independent driving force and guiding reference, eliminating the gap and backlash brought by traditional connecting rods or rotary joints, thereby improving the single-axis repeatability. Due to the cross arrangement of the two sliding rails, the support structure 100 end point can move along any straight line or composite curve in the plane without additional mechanical conversion, reducing system inertia and response time. In addition, the double sliding block stacked arrangement keeps the overall height compact, providing convenience for deploying the entire test system inside the limited experiment table, effectively improving the economy and feasibility of flexible sensor batch verification.

[0050] Reference Figure 4 For example, in a specific implementation, the orthogonal platform 10 includes Y-axis moving assemblies (for example, Y-axis screw module I 112 and Y-axis screw module II 122). The orthogonal platform 10 realizes real-time control of the X, Y, R, and B four dimensions of the test table support structure 13 by using G-code instructions under the Linux system, so as to obtain the pose of the sensor motion end clamp 14 in the plane and the locking state of the support structure 13 in the clamp (i.e., the effective length L of the support structure 13).

[0051] Specifically, the Y-axis screw module I 112 (converts the rotary motion output by the commutator I 118 into linear motion along the Y-axis), the Y-axis screw module II 222 (converts the rotary motion output by the commutator II 223 into linear motion along the Y-axis) and the X-axis moving assembly (for example, the X-axis screw module 21, converts the rotary motion of the X-axis motor 16 into linear motion along the X-axis) are stacked together, and the two are power coupled through the commutator I 118 (connects the Y-axis motor 17, the Y-axis screw module I 112 and the transmission shaft 20, and is used for power transmission), the commutator II 223 (connects the transmission shaft 20 and the Y-axis screw module II 222, and is used for power transmission and distribution), and the transmission shaft 20 (is used for transmitting power between the commutators). The first driving member (for example, the Y-axis motor 17, provides a power source for the Y-axis of the test table) drives the first sliding block to reciprocate along the Y-axis sliding rail. The second driving member (for example, the X-axis motor 16, is used for providing a power source for the X-axis of the test table) drives the second sliding block to reciprocate along the X-axis sliding rail. The X and Y axes are arranged orthogonally to form a planar rectangular coordinate motion chain. The clamping member 300 includes a brake motor 11, which is used to control the locking and releasing (B) between the sensor moving end clamp 14 and the support structure 13, thereby controlling the effective length L of the support structure 13. One end of the flexible sensor to be measured is fixed to the ground through the sensor stationary end clamp 19. The rotating member 400 includes an R-axis motor 15, which is used to drive the sensor moving end clamp 14 to apply torque to the support structure 13. The clamping member 300 is installed on the end of the second sliding block through the rotating member 400, so that any linear or curved interpolation can be realized in the X-Y plane, and stretching, pure bending, positive circular bending, S-shaped bending and composite deformation can be completed. In this embodiment, the flexible sensor performance testing device performs excellently in comprehensive performance measurement. In terms of online displacement measurement, the average absolute error is controlled within 0.007mm, the maximum absolute error is controlled within 0.02mm, and the standard deviation is controlled within 0.011mm; in terms of angle measurement, the average absolute error is controlled within 0.0816°, the maximum absolute error is controlled within 0.2°, and the standard deviation is controlled within 0.0582°. The above average error index is used to represent the measurement accuracy level of the system as a whole, the maximum error index is used to reflect the maximum deviation range under extreme measurement conditions, that is, the fault tolerance ability or safety margin of the system, and the standard deviation index is used to reflect the dispersion degree of the error, thereby evaluating the stability and consistency of the system in repeated measurement. The test results show that the flexible sensor performance testing device of the present application can realize high precision, wide fault tolerance and high stability in length and angle measurement, and can meet the needs of precise measurement and high reliability applications.

[0052] In some embodiments, the clamping part 300 of the orthogonal platform 10 includes a sensor motion end clamp body 14, a brake motor 11, a sensor fixed interface, and a support structure 13. The sensor motion end clamp body 14 provides external applied loads and torques to the motion end of the support structure 13. The brake motor 11 is used to control the locking and releasing (B) between the sensor motion end clamp 14 and the support structure 13, thereby controlling the effective length L of the support structure 13. The sensor fixed interface connects the flexible sensor and its external hardware with the test bench mechanical structure. The support structure 13 itself can form the expected bending shape and is used to constrain the flexible sensor to be tested to produce the same deformation during the test process.

[0053] Through the above structural design, the orthogonal platform 10 of the present application can efficiently and accurately realize the performance test of flexible sensors under multi-mode composite loading and single loading, and meet the needs of multi-dimensional deformation simulation and performance evaluation under actual working conditions.

[0054] In some embodiments, in order to improve the positioning accuracy, a high-resolution encoder can be integrated on each slide rail. The encoder can provide real-time feedback of the position information of the slider to the control system, thereby realizing closed-loop control. For example, if it is detected that the current position deviates from the target value, the system will immediately issue instructions to adjust the working state of the driving part until the required accurate position is reached. This method improves the response speed and positioning accuracy of the system, and is suitable for application scenarios that require fine tuning.

[0055] In some embodiments, magnetic levitation technology is used instead of traditional slide rail and slider mechanisms. In this design, the magnetic field generated by the driving part can make the slider levitate in the air, thereby almost eliminating the influence of friction. This not only greatly reduces energy consumption, but also improves the stability and service life of the system. In addition, since there is no physical contact, the maintenance requirements of the equipment are also reduced accordingly, which is suitable for long-term operation and frequent use occasions.

[0056] Reference Figures 8 to 11In some embodiments, the mobile platform 200 comprises a serial platform 220, which comprises a first rotating arm 221, a second rotating arm 222, and a third rotating arm 223. The second rotating arm 222 is rotationally connected to the first rotating arm 221, and the third rotating arm 223 is rotationally connected to the second rotating arm 222. The gripper 300 is connected to the third rotating arm 223 through the rotating member 400. Specifically, the first rotating arm 221 provides a basic rotating axis, enabling the entire system to rotate around a vertical axis. The second rotating arm 222 provides a second rotating axis, enabling the structure to adjust the angle in another direction. The third rotating arm 223 further expands the adjustable angle range, further improving the degree of freedom of the gripper 300. These rotating actions work together to enable the gripper 300 to move freely in space, thereby exerting various bending and stretching stresses on the support structure 100. For example, when the first rotating arm 221 and the second rotating arm 222 work simultaneously, a positive circular bending can be achieved. If the action of the third rotating arm 223 is added, an S-shaped bending or a complex deformation can be generated.

[0057] In this embodiment, the serial platform 220 composed of three rotating arms is configured as the mobile platform 200, and the displacement of the linear slide rail is entirely converted into a rotating motion, thereby expanding the reachable working space at the end of the gripper 300 without increasing the length of the rail. The sequential connection of the first rotating arm 221, the second rotating arm 222, and the third rotating arm 223 forms an open-chain structure, enabling the end point of the support structure 100 to draw any continuous curve in a plane, facilitating the implementation of positive circular, S-shaped, and other complex curvatures. At the same time, the center of mass of the rotating arm can be designed to be closer to the base, the overall inertia is reduced, the dynamic response is faster, and high-frequency cyclic loading can be supported, meeting the fatigue life test requirements. In some embodiments, a fourth, fifth, or other rotating arm is added to further expand the three-dimensional test capability, facilitating the evaluation of the real mechanical response of the flexible sensor under complex service scenarios.

[0058] In some embodiments, to enhance the flexibility of the system, additional joints or links can be added between each rotating arm to form a more complex multi-degree-of-freedom robotic arm structure. For example, by adding an intermediate link between the second rotating arm 222 and the third rotating arm 223 and giving it an independent driving device, the motion of the gripper 300 can be more diversified.

[0059] In some embodiments, an intelligent control system is introduced. The intelligent control system can automatically calculate the required rotating path according to the preset target deformation and adjust the actions of each rotating arm in real time. This not only improves the experimental efficiency but also ensures the consistency and accuracy of each test.

[0060] Reference Figures 8 to 10In some embodiments, the series connection platform 220 comprises a fixed base 224, the first rotating arm 221 comprises a first joint, a first connecting rod and a third driving member, one end of the first connecting rod is pivotally connected to the fixed base 224 through the first joint, and the third driving member can drive the first connecting rod to rotate around the first joint. The second rotating arm 222 comprises a second joint, a second connecting rod and a fourth driving member, one end of the second connecting rod is pivotally connected to the other end of the first connecting rod through the second joint, and the fourth driving member can drive the second connecting rod to rotate around the second joint. The third rotating arm 223 comprises a third joint, a third connecting rod and a fifth driving member, one end of the third connecting rod is pivotally connected to the other end of the second connecting rod through the third joint, and the fifth driving member can drive the third connecting rod to rotate around the third joint, and the rotating member 400 is connected to the other end of the third connecting rod. Specifically, the driving members of each rotating arm provide power according to the control instructions, causing the corresponding connecting rods to rotate around the respective joints to form a predetermined spatial position change. The operation of the first driving member causes the first connecting rod to rotate, changing the initial attitude of the entire system. Then, the second driving member further adjusts the attitude of the second connecting rod to refine the position adjustment. Finally, the third driving member accurately controls the position of the third connecting rod to ensure that the clamping member 300 accurately reaches the specified position. The three work together to achieve the function of applying complex deformation to the flexible sensor on the support structure 100.

[0061] Referring to Figure 10 and Figure 11 In one specific implementation, the series connection platform 30 in this application uses G-code instructions under the Linux system to realize real-time control of the test bench support structure in four dimensions of X, Y, Z and L, so as to obtain the pose of the sensor motion end clamp 32 in the plane and the locking state of the support structure in the clamp (i.e. the effective length L of the support structure). 、 、 and L four dimensions, in order to obtain the pose of the sensor motion end clamp 32 in the plane and the locking state of the support structure in the clamp (i.e. the effective length L of the support structure).

[0062] The series platform 30 starts from the fixed base 224 (for example, the R1 motor support 39, which is used to fixedly connect the R1 motor shell with the ground), and is sequentially connected with the first rotating arm 221, the second rotating arm 22 and the third rotating arm 223. The first rotating arm 221 includes a first joint, a first connecting rod (the L1 connecting rod 36, which is connected with the R1 motor 40 and the R2 motor 41, and is used to transmit motion and load force; the R2 motor shell is fixedly connected with the L1 connecting rod 36 through the R2 motor support 41, forming a multi-axis driving structure) and a third driving member (the R1 motor 40, which is used to provide torque for the L1 connecting rod 36, and drive the multi-mode loading process of the flexible sensor), and is used to provide the first level of rotational freedom. The second rotating arm includes a second joint, a second connecting rod (the L2 connecting rod 34, which is connected with the R3 motor 33 and the R2 motor 35, and is used to transmit the loading torque and the position; the R3 motor shell is fixedly connected with the L2 connecting rod 34 through the R3 motor support 42, forming a loading support at the end of the support structure) and a fourth driving member (the R2 motor 35, which is connected with the L1 connecting rod 36 and the L2 connecting rod 34, and is used to drive the motion of the support structure and provide the joint torque, and realize multi-dimensional composite loading), and realizes the second level of rotational freedom. The third rotating arm 223 includes a third joint, a third connecting rod (the end segment of the support structure) and a fifth driving member (the R3 motor 33, which is used to drive the motion end of the support structure to exert the required torque, and realize the multi-mode bending loading of the flexible sensor), and outputs the third level of rotational freedom. The series platform 30 further includes the load-bearing universal wheel 31, which is used to bear the vertical load of the test table, and guarantee the stability of the platform under the condition of multi-deformation loading. The clamping member 300 is installed at the end of the third connecting rod through the rotating member, forming an RRR (rotation-rotation-rotation) open-chain structure. With the matched Linux-G-code instruction, the three joints can realize real-time interpolation of any planar curve, realize the equivalent loading mode of the orthogonal platform 210, and have the advantages of compact structure, small inertia and high dynamic response.

[0063] In some embodiments, the clamping part of the series platform 30 includes a sensor motion end clamp body 43, a driving wheel set 44, a transmission gear 45, a motor bracket 46, a driving motor 47, an optical displacement sensor 48, and a passive wheel set 49. The sensor motion end clamp body 43 is arranged at the end of the support structure 100, used to apply external loading force and torque to the motion end of the support structure 100, to realize the simulation of multi-mode composite deformation of the flexible sensor. One end of the flexible sensor to be tested is fixed by the sensor stationary end clamp 37. The driving wheel set 44 is arranged on the sensor motion end clamp 32 body, used to apply driving force in the motion direction of the support structure, to realize the dynamic loading of the support structure. The transmission gear 45 is used to transmit the power of the driving motor 47 to the driving wheel set 44, to realize the driving control of the support structure 100. The motor bracket 46 is used to fix the shell of the driving motor 47 with the sensor motion end clamp 32 body, to ensure the stable installation of the driving motor 47 and the accuracy of power transmission. The driving motor 47 is used to provide power for the L-axis of the test bench, to realize the linear motion loading along the L-axis. The optical displacement sensor 48 is used to monitor and feedback the motion position of the L-axis of the test bench in real time, to ensure the accurate control of the loading process. The passive wheel set 49 is used to constrain the motion range between the support structure and the sensor motion end clamp 32 body, to prevent unnecessary deviation and ensure the accuracy of the loading path.

[0064] In some embodiments, to improve the positioning accuracy, high-precision encoders can be installed at each joint. These encoders can provide real-time feedback of the current angle information to the control system, thereby realizing closed-loop control. For example, if the actual angle deviates from the target value, the system will immediately adjust the working state of the driving part until the required accurate position is reached. This way improves the response speed and positioning accuracy of the system, suitable for application scenarios that require fine tuning.

[0065] In some embodiments, an adaptive control system is used, which can dynamically adjust the deformation parameters according to the actual response of the flexible sensor. For example, when it is found that a certain deformation mode causes abnormal sensor signals, the system can automatically adjust the action of the rotating arm, try new deformation combinations, until the optimal test conditions are found.

[0066] Reference Figures 5 to 7In some embodiments, the clamping device 300 includes a clamp body 310 connected to the rotating device 400, a locking mechanism 330 connected to the clamp body 310 respectively, and a sensing interface 320 for electrically connecting the flexible sensor to collect the response signal. The clamp body 310 serves as the core part of the entire clamping device 300, providing a stable frame so that other components can be stably installed thereon. The locking mechanism 330 mechanically fixes the support structure 100, ensuring that it does not slip or shift when various deformations are applied. Specifically, the locking mechanism 330 achieves firm clamping of the support structure 100 by adjusting the internal pressure device. This design not only ensures the stability of the support structure 100 during testing, but also facilitates control of the effective length of the support structure 100, and facilitates quick replacement of different support structures 100 to adapt to different types of flexible sensors.

[0067] In some embodiments, to improve the applicability of the locking mechanism 330, multiple adjustable locking points can be added to the clamp body 310. For example, by arranging a set of parallel locking mechanisms 330, the position of each locking point can be flexibly adjusted according to the size and shape of the support structure 100, thereby achieving a wider range of applications. This multi-point locking mechanism not only enhances the fixation effect of the support structure 100, but also reduces the risk of damage caused by local stress concentration.

[0068] Referring to Figures 5 to 7 In some embodiments, the locking mechanism 330 includes a brake motor and a clamping jaw, the brake motor is installed in the clamp body 310, and the clamping jaw is connected to the brake motor, the brake motor can drive the clamping jaw to clamp or release the support structure 100. Specifically, the brake motor is installed inside the clamp body 310, and the output shaft is rigidly connected to the clamping jaw, which can quickly complete the clamping or releasing action. Since the clamping stroke is controlled by the motor encoder in a closed loop, the clamping force can be accurately adjusted according to the preset current curve, which not only avoids damage to the support structure 100 caused by over-clamping, but also ensures that the support structure 100 does not slip during stretching, bending or composite deformation, ensuring the accuracy of deformation transmission. At the same time, the brake motor has a power-off self-locking function, which allows the clamping jaw to remain clamped in the event of power failure, improving the safety of the testing process. The modular clamping jaw design supports quick replacement of jaw blocks with different opening sizes or friction coefficients to meet the adaptation requirements of support structures 100 with different cross-sectional shapes or materials, improving maintenance efficiency and system versatility.

[0069] In some embodiments, pressure sensors are integrated into the clamping jaws. These sensors can monitor the amount of pressure exerted by the clamping jaws on the support structure 100 in real time and feed back the data to the control system. Based on these feedback information, the control system can dynamically adjust the working state of the braking motor to prevent the support structure 100 from deforming or being damaged due to excessive clamping.

[0070] Referring to Figure 1 and Figure 8 In some embodiments, the support structure 100 is configured as at least one of a sheet-like structure, a rod-like structure, or a bendable strip-like structure. This diverse design enables the support structure 100 to better adapt to different types of flexible sensors and apply different deformation modes. For example, when the support structure 100 adopts a sheet-like structure, its large surface area allows a wider sensor fitting area, enabling the simulation of planar stretching and bending conditions. When a rod-like structure is used, its elongated shape helps concentrate stress, making it more suitable for pure bending tests.

[0071] In some embodiments, the material of the support structure 100 has elastic recovery properties to restore its original shape after multiple deformations. Elastic materials avoid the curvature drift and clamping force decay caused by plastic deformation of traditional metal or plastic clamps, ensuring the long-term consistency of the deformation path. Lightweight elastic materials further reduce the motion load, improving the dynamic response speed and energy efficiency ratio of the system, providing a stable and repeatable physical reference for the reliability and durability evaluation of flexible sensors under large deformation and high cycle conditions.

[0072] In some embodiments, a functional coating is added to the surface of the support structure 100. For example, a layer of material with self-lubricating properties can be applied to reduce friction between the support structure 100 and the clamping piece 300, thereby extending the service life and improving the operation precision. For some special applications, an anti-static coating can also be added to the surface of the support structure 100 to prevent the influence of static electricity accumulation on test results.

[0073] In some embodiments, the flexible sensor performance testing device further includes a sensing module and a processing module. The sensing module is used to collect the electrical, optical, or combined signals of the flexible sensor during deformation. The processing module is in communication with the sensing module and is used to process the signals. In actual operation, the sensing module and the processing module work closely together to form a closed-loop control system. Once a change in the response signal of the sensor is detected, the processing module initiates the corresponding calculation program, analyzes the current state, and adjusts the subsequent actions. For example, if a certain deformation mode is found to cause a decline in sensor performance, the system will automatically switch to other preset modes until the optimal working conditions are found.

[0074] In addition, the sensing module can capture various physical quantities such as resistance, capacitance, voltage, current, light intensity, and spectrum in real time during the entire process of stretching, pure bending, positive circular bending, S-shaped bending, or complex deformation of the flexible sensor driven by the support structure 100, without the need for external large test instruments, shortening the signal transmission path, and reducing noise interference and contact loss. The processing module communicates with the sensing module in real time, and can perform online filtering, calibration, feature extraction, and coupling / decoupling operations on the original data, directly giving key performance indicators such as sensitivity, linearity, hysteresis, and drift on the device side, saving the waiting time for subsequent offline analysis.

[0075] Referring to Figures 1 to 15 Embodiments of the second aspect of the present application propose a test method for the flexible sensor performance testing device of any of the above, referring to Figure 12 The test method comprises: S101: mounting the flexible sensor on the support structure 100 in a fit manner; S102: applying a preset deformation mode to the flexible sensor by controlling the cooperative action of the moving platform 200 and the rotating member 400; S103: collecting the response signal of the flexible sensor in real time during the deformation process; S104: analyzing the response signal to obtain the performance parameters of the flexible sensor under the deformation mode.

[0076] The flexible sensor is mounted on the support structure 100 in a fit manner, and the sensor and the support structure 100 maintain zero relative slip during the entire deformation process through face-to-face fitting and end-to-end positioning, which avoids additional shear stress and ensures the integrity and repeatability of deformation transmission.

[0077] In the cooperative action of the moving platform 200 and the rotating member 400, real-time interpolation of linear displacement, angular displacement, and their coupled trajectories can be used to realize stretching, pure bending, positive circular bending, S-shaped bending, and any complex deformation in sequence or simultaneously in the same clamping, without the need to change the clamp or recalibrate, thereby shortening the switching time.

[0078] In the real-time collection of the response signal during the deformation process, electrical quantities (resistance, capacitance, voltage, and current) and / or optical quantities (light intensity, spectrum, and image) are captured, the sampling frequency is aligned with the mechanical motion beat, the data is ensured to have no phase lag, and the transient characteristics are truly reflected.

[0079] In the analysis of the response signal, key indicators such as sensitivity, linearity, hysteresis, drift, and fatigue life are output through online filtering, baseline correction, and coupling / decoupling algorithms, and users can obtain reproducible and traceable performance reports after the test is completed.

[0080] Referring to Figures 1 to 15The embodiment of the third aspect of the present application proposes a computer readable storage medium, wherein a processor executable program is stored, and the processor executable program is used to implement the test method when executed by a processor. The computer readable storage medium solidifies the test method into portable and replicable program code, so that any device with a processor can immediately call and execute the complete flexible sensor deformation test process after inserting or reading the medium. Because the software and hardware are decoupled, the consistency of the test standard can be realized by the same program in the laboratory, production line and even field environment, reducing the error caused by human operation difference. At the same time, the program can be upgraded online with technology iteration, without replacing physical components, saving maintenance costs and ensuring that the test algorithm continuously maintains optimal performance.

[0081] Reference Figures 1 to 15 The embodiment of the fourth aspect of the present application proposes a computer program product, including a computer program or computer instructions, characterized in that the computer program or computer instructions are stored in a computer readable storage medium, and the processor of the computer device reads the computer program or computer instructions from the computer readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned test method. The computer program product encapsulates the above-mentioned test method as an independently distributable computer program or instruction, allowing any standard computer device to quickly deploy complete flexible sensor deformation test function with only basic hardware interface. Once the program is loaded, the processor drives the mobile platform 200 and the rotating part 400 to move cooperatively according to the predetermined algorithm, triggers signal sampling and completes data analysis in real time, and the whole process does not need manual intervention, significantly shortens the test preparation time and eliminates the error caused by operation difference. Because the program and the storage medium can be copied or network delivered together, research institutions, quality inspection departments and production lines can maintain a high degree of consistency of the test standard in different places and different batches. At the same time, the software can be upgraded or parameterized online at any time, without replacing the hardware to adapt to new sensors or update the test specification, so as to realize the continuous iteration of the test ability and the algorithm accuracy with very low maintenance cost.

[0082] In summary, the present scheme aims to solve the pain points in the prior art such as single deformation mode, insufficient loading precision, and inability to decouple and analyze the electro-mechanical / optical-displacement response of flexible electronic devices. The core of the flexible sensor performance testing device is composed of a support structure 100, a moving platform 200, a clamping piece 300, a rotating piece 400, a sensing module, and a processing module, and is matched with a computer readable medium storing a test program. The flexible sensor can be subjected to stretching, pure bending, positive circular bending, S-shaped bending, and any arbitrary composite deformation on the same hardware platform, while the electrical / optical signals are simultaneously collected and decoupled and analyzed. The support structure 100 extends along a first direction, and its surface can be made into a sheet, a rod, or a bendable strip. The material has excellent elastic recovery performance and can still recover to its original state after multiple cycles, ensuring test repeatability. The sheet structure is used for large curvature uniform bending moment testing, the rod structure is suitable for small radius high curvature fatigue testing, and the strip structure takes into account the stretching and bending composite working conditions. The user can complete mode switching within a few seconds by simply plugging in and out the support piece, greatly shortening the preparation time.

[0083] The moving platform 200 can be configured as an orthogonal platform 210 or a series platform 220. The orthogonal platform 210 is stacked by a Y-axis moving assembly 211 and an X-axis moving assembly 212, each axis using a linear module of a driving piece, a slide rail, and a slider. The slide rails are arranged perpendicular to each other, and closed-loop control is achieved through G-code instructions. The positioning accuracy can reach 0.007 mm, the maximum error is not more than 0.02 mm, and the standard deviation is 0.011 mm, which is better than the prior art. The series platform 220 is composed of a fixed base 224 and three-stage rotating arms. The first rotating arm 221 is connected to the base through a first joint, the second rotating arm 222 is connected to the first rotating arm 221 through a second joint, the third rotating arm 223 is connected to the second rotating arm 222 through a third joint, and the end is connected to the clamping piece 300 through the rotating piece 400. Each joint of the series platform 220 is driven by an independent servo motor, can interpolate any planar curve in real time, realizes large stroke and high dynamic loading, has compact structure, mass center close to the base, fast dynamic response, and high cycle frequency, and is suitable for fatigue life testing.

[0084] The clamping piece 300 integrates a clamp body 310, a locking mechanism 330, and a sensing interface 320. The locking mechanism 330 directly connects the clamping jaw with a brake motor, the motor is self-locking when power is lost, the clamping force can be programmed to adjust, and the support structure 100 is ensured to have no slip in multiple cycles. The sensing interface 320 directly terminates the flexible sensor, and sends the electrical and optical signals or their combination into the processing module in real time, avoiding noise and phase lag caused by long leads. The rotating piece 400 is installed between the clamping piece 300 and the moving platform 200, and its rotation axis can be perpendicular to the first plane to obtain a pure bending moment, or can form a preset angle with the first plane to introduce a controllable bending moment while stretching, realizing the coupling of stretching and bending. The ratio of angle and displacement is adjusted in real time by the upper program, ensuring continuous adjustment of the coupling ratio.

[0085] The test method comprises: fitting and installing the flexible sensor to the support structure 100; applying target deformation according to a preset trajectory by the cooperative action of the moving platform 200 and the rotating member 400; synchronously collecting resistance, capacitance, voltage, current, light intensity or spectrum signals during the deformation process by the sensing module; and the processing module completes filtering, baseline correction and coupling / decoupling analysis online, and directly outputs performance parameters such as sensitivity, linearity, hysteresis and fatigue life. The whole process is automatically executed by a program stored in a computer readable medium such as a U disk, supports cross-platform deployment and online updating, and ensures the consistency of test standards in different places and different batches. The system is compatible with various flexible sensors such as resistance type, capacitance type, piezoelectric type, light intensity type and spectrum type, and is suitable for different geometric shapes such as cylindrical, sheet-shaped and strip-shaped, and provides a universal, efficient and high-precision test solution for flexible electronic devices from laboratory research and development to engineering application.

[0086] Further, the beneficial effects of the present application include: (1) Strong multi-deformation mode loading capability The test device of the present application not only can apply single tensile or bending deformation, but also can flexibly combine multiple composite deformation modes (such as tensile-bending composite, positive circular bending, S-shaped bending), fully simulate the complex working conditions of flexible sensors in actual application, and significantly improve the authenticity and applicability of the test. For example, Figure 13 , Figure 14 , Figure 15 . In the figure, the X, Y and theta axes are the active driving axes of the test table, the red line represents the pure circular bending mode, the blue line represents the bending mode without applying moment of force couple to the support structure at both fixed ends, and the gray surface represents the set of all bending equations that satisfy the sheet-shaped support structure.

[0087] (2) High power transmission and loading precision Through the cooperative action of the driving wheel set 44, the transmission gear 45 and the multi-axis driving motor system, accurate loading and dynamic control of the sensor motion end clamp main body 43 are realized, the efficient transmission and accurate application of torque and thrust in the multi-mode loading process are ensured, and the high-precision test requirement is met. In the multiple loading tests, for the set target displacement , the actual displacement of each loading of the test system of the present application is , and the difference between and is defined as the absolute error of single loading. Through statistical analysis, the average absolute error ( ) under multiple loading tests is 0.007mm, and the maximum absolute error ( ) is 0.02mm, which is significantly better than the prior art, and embodies the high precision and high repeatability of the test system under multi-mode loading conditions. And under the same loading conditions, the standard deviation of the displacement data is 0.011mm, indicating that the system has excellent repeatability and stability.

[0088] (3) Position feedback and closed-loop control The optical displacement sensor 48 is used to monitor and feedback the L-axis movement of the test bench in real time, effectively avoiding the cumulative error in the loading process, improving the accuracy of the test loading path, and realizing the closed-loop control of multi-mode loading.

[0089] (4) Modular structure and strong adaptability The device adopts modular design, and each component is connected through supports, connecting rods, gears, etc. It can be flexibly disassembled and expanded, and it is convenient to quickly adjust the structure and loading mode according to different test requirements, greatly improving the applicability and maintenance convenience of the equipment. The sensor fixing clamp can adapt to the test requirements of flexible sensors of various shapes, including but not limited to various diameters, lengths of cylindrical shape, sheet shape, strip shape, etc.

[0090] (5) High reliability and data analysis capability The device can combine with demodulation equipment to synchronously collect optical and electrical signals related to deformation, support coupling / decoupling analysis, and thus comprehensively evaluate the response characteristics and long-term stability of flexible sensors under various deformation modes, significantly improving the scientificity and engineering guidance value of performance testing.

[0091] In summary, the present application not only effectively solves the problems of single deformation mode, low loading precision and poor applicability of the test device in the prior art, but also significantly enhances the multi-mode performance test capability of flexible sensors, providing solid technical support for the transformation of flexible sensors from laboratory research and development to engineering application.

[0092] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation based on the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A flexible sensor performance testing device, characterized in that, include: The support structure has a surface that extends along a first direction and can produce a variety of preset deformations, the surface being adapted to fit a flexible sensor. A mobile platform, along the first direction, with one end of the support structure fixed to the mobile platform; A clamping member is connected to the mobile platform. The clamping member is configured to move in a first plane. The clamping member is movably connected to the support structure. The clamping member is configured to move closer to or further away from the fixed end of the support structure to adjust the length of the support structure to fit the flexible sensor and apply various deformation modes. A rotating component is connected to the mobile platform and the clamping component respectively, and the rotating component can drive the clamping component to rotate about a direction inclined to the first plane; The mobile platform and the rotating component work together to apply any one of the following deformations to the flexible sensor: stretching, pure bending, circular bending, S-shaped bending, or a combination of deformations.

2. The flexible sensor performance testing device according to claim 1, characterized in that, The rotation axis of the rotating component is perpendicular to the first plane; or, The rotation axis of the rotating component forms a preset angle with the first plane to introduce bending moment while stretching.

3. The flexible sensor performance testing device according to claim 1, characterized in that, The mobile platform includes an orthogonal platform, which includes a Y-axis moving component and an X-axis moving component. The X-axis moving component is connected to the Y-axis moving component, and the clamping member is connected to the X-axis moving component through the rotating member.

4. The flexible sensor performance testing device according to claim 3, characterized in that, The Y-axis moving component includes a first driving member, a first slide rail, and a first slider. The first slide rail extends along the Y-axis direction, and the first slider is slidably connected to the first slide rail. The first driving member can drive the first slider to move along the Y-axis direction. The X-axis moving component is connected to the second slider. The X-axis moving component includes a second driving member, a second slide rail, and a second slider. The second slide rail extends along the X-axis direction, and the second slider is slidably connected to the second slide rail. The second driving member can drive the second slider to move along the X-axis direction, and the X-axis direction intersects the Y-axis direction.

5. The flexible sensor performance testing device according to claim 1, characterized in that, The mobile platform includes a series platform, which includes a first rotating arm, a second rotating arm, and a third rotating arm. The second rotating arm is rotatably connected to the first rotating arm, and the third rotating arm is rotatably connected to the second rotating arm. The clamping member is connected to the third rotating arm through the rotating member.

6. The flexible sensor performance testing device according to claim 5, characterized in that, The serial platform includes a fixed base, the first rotating arm includes a first joint, a first connecting rod and a third driving member, one end of the first connecting rod is pivotally connected to the fixed base through the first joint, and the third driving member can drive the first connecting rod to rotate around the first joint. The second rotating arm includes a second joint, a second link, and a fourth driving member. One end of the second link is pivotally connected to the other end of the first link through the second joint. The fourth driving member can drive the second link to rotate around the second joint. The third rotating arm includes a third joint, a third link, and a fifth driving member. One end of the third link is pivotally connected to the other end of the second link via the third joint. The fifth driving member can drive the third link to rotate around the third joint. The rotating member is connected to the other end of the third link.

7. The flexible sensor performance testing device according to claim 1, characterized in that, The clamping member includes a clamping body, a locking mechanism, and a sensing interface. The clamping body is connected to the rotating member, and the locking mechanism is connected to the clamping body. The locking mechanism is configured to clamp or release the support structure. The sensing interface is used to electrically connect the flexible sensor to collect response signals.

8. The flexible sensor performance testing device according to claim 7, characterized in that, The locking mechanism includes a brake motor and a gripper. The brake motor is mounted on the fixture body, and the gripper is connected to the brake motor. The brake motor can drive the gripper to clamp or release the support structure.

9. The flexible sensor performance testing device according to claim 1, characterized in that, The support structure is configured as at least one of a sheet structure, a rod structure, or a flexible strip structure; and / or The material of the supporting structure has elastic recovery properties and can return to its original shape after multiple deformations.

10. The flexible sensor performance testing device according to claim 1, characterized in that, The flexible sensor performance testing device also includes: A sensing module is used to acquire electrical signals, optical signals, or a combination thereof from the flexible sensor during the deformation process; The processing module is communicatively connected to the sensing module and is used to process the signal.

11. A testing method, characterized in that, The testing method for the flexible sensor performance testing apparatus according to any one of claims 1-10 includes: The flexible sensor is attached and installed onto the support structure; By controlling the coordinated movement of the mobile platform and the rotating component, a preset deformation pattern is applied to the flexible sensor; The response signal of the flexible sensor is acquired in real time during the deformation process; The response signal is analyzed to obtain the performance parameters of the flexible sensor under the deformation mode.

12. A computer-readable storage medium, characterized in that, It stores a processor-executable program, which, when executed by the processor, is used to implement the test method as described in claim 11.

13. A computer program product, comprising a computer program or computer instructions, characterized in that, The computer program or the computer instructions are stored in a computer-readable storage medium, the processor of the computer device reads the computer program or the computer instructions from the computer-readable storage medium, and the processor executes the computer program or the computer instructions, causing the computer device to perform the test method as described in claim 11.

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