Multi-mode sensing feedback patch and manufacturing method thereof

Abstract

The invention discloses a multi-mode sensing feedback patch and a manufacturing method thereof, and belongs to the technical field of motion capture. The multi-mode sensing feedback patch comprises a substrate. The substrate is made of a flexible material. The substrate has a first surface on which a strain sensing layer and a thermal feedback layer are disposed. Wherein the strain sensing layer is used for detecting the stretching state of human body muscles, and the thermal feedback layer is suitable for being connected with current to generate Joule heat so as to achieve thermal feedback. The first surface of the substrate is also provided with a packaging layer. The strain sensing layer and the thermal feedback layer are located between the encapsulation layer and the substrate. Furthermore, the packaging layer is also made of a flexible material, and packaging of the strain sensing layer and the thermal feedback layer can be realized through the packaging layer. A myoelectricity acquisition layer is arranged on one side, away from the substrate, of the packaging layer, and the myoelectricity acquisition layer is used for being in contact with human skin to perform myoelectricity acquisition. And the myoelectricity acquisition layer realizes electrical isolation and physical space decoupling with the strain sensing layer and the thermal feedback layer through the packaging layer.

Description

Technical Field

[0001] This application relates to the field of motion capture technology, and in particular to a multimodal sensing feedback patch and its manufacturing method. Background Technology

[0002] With the rapid development of flexible electronics, wearable devices, and human-computer interaction systems, integrated, multifunctional, and highly flexible sensing and feedback modules are gradually becoming key basic units in intelligent wearable systems. Multifunctional sensing and feedback devices based on flexible substrates have gained widespread attention in fields such as medical rehabilitation, virtual reality, smart clothing, smart prostheses, and sports training. Especially in the research of flexible sensing and feedback elements with good skin fit, stretchable structure, and deformability, achieving integrated acquisition and output of multimodal information is crucial for realizing natural, continuous, and high-throughput human-computer interaction systems.

[0003] In related technologies, human body status monitoring systems mainly use independent rigid or flexible devices to collect electromyography, physiological signals or motion information in a single mode, resulting in large system size, complex wiring, poor wearability, and difficulty in meeting the requirements of dynamic, high degree of freedom and continuous interactive human-computer interface. Summary of the Invention

[0004] The purpose of this application is to provide a multimodal sensing feedback patch and its manufacturing method, which solves the problem that in related technologies, human condition monitoring systems use independent rigid or flexible devices to collect electromyographic, physiological signals or motion information in a single mode, resulting in large system size, complex wiring, poor wearability, and difficulty in meeting the requirements of dynamic, high-degree-of-freedom, and continuous interactive human-computer interfaces.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0006] On the one hand, this application provides a multimodal sensing feedback patch, including: A substrate, the substrate including a first surface, the substrate being a flexible material; A strain sensing layer and a thermal feedback layer are disposed on the first surface, wherein the strain sensing layer is used to detect the stretching state of human muscles, and the thermal feedback layer is adapted to pass an electric current to generate Joule heating. An encapsulation layer is stacked on the first surface, the strain sensing layer and the thermal feedback layer are located between the encapsulation layer and the substrate, and the encapsulation layer is made of a flexible material; An electromyography (EMG) acquisition layer is disposed on the side of the encapsulation layer opposite to the substrate. The EMG acquisition layer is used to contact human skin for EMG acquisition. The EMG acquisition layer achieves electrical isolation and physical spatial decoupling from the strain sensing layer and the thermal feedback layer through the encapsulation layer.

[0007] In this solution, the substrate and encapsulation layer utilize flexible materials to conform to complex curved surfaces, meeting the requirements for continuous wear and dynamic monitoring. A strain sensing layer and a thermal feedback layer are positioned between the substrate and the encapsulation layer. The strain sensing layer detects the stretching state of human muscles, while the thermal feedback layer is adapted to conduct current to generate Joule heating for thermal feedback. An electromyography (EMG) acquisition layer is located within the encapsulation layer for contact with human skin to collect EMG data. This solution integrates strain sensing, EMG acquisition, and thermal feedback modules on a single substrate, making it suitable for dynamic information acquisition and tactile feedback in wearable human-computer interaction systems. Furthermore, the strain sensing layer and thermal feedback layer are electrically isolated and physically decoupled from the EMG acquisition layer through the encapsulation layer. Stable signal transmission is achieved through structural isolation and optimized wiring, making it suitable for high-sensitivity human signal acquisition scenarios. This solution, through its integrated design of sensing and feedback, provides a standardized hardware platform for intelligent prosthetics, VR haptic clothing, and other applications.

[0008] Optionally, a first conductive silver paste layer is disposed between the encapsulation layer and the substrate, the first conductive silver paste layer being electrically connected to the strain sensing layer and the thermal feedback layer respectively, and a second conductive silver paste layer is disposed between the electromyography acquisition layer and the encapsulation layer.

[0009] Optionally, the first conductive silver paste layer is electrically connected to a first wiring FPC, and the second conductive silver paste layer is electrically connected to a second wiring FPC. Both the first wiring FPC and the second wiring FPC are connected to an FPC adapter.

[0010] In this solution, the strain sensing layer and thermal feedback layer are externally connected via a first conductive silver paste layer. The electromyography (EMG) acquisition layer is externally connected via a second conductive silver paste layer. The external circuitry fabricated with conductive silver paste exhibits high flexibility and high conductivity. Signals are led out from both the first and second conductive silver paste layers via a unified FPC adapter, facilitating modular assembly and system integration. This solves the problems of messy wiring and poor wearability when integrating multiple sensors.

[0011] Optionally, both the substrate and the encapsulation layer are made of polydimethylsiloxane.

[0012] The substrate and encapsulation layer prepared with polydimethylsiloxane combine biocompatibility and flexibility, with a small overall thickness, high stretchability, and the ability to fit complex curved surfaces, which can meet the needs of continuous wear and dynamic monitoring.

[0013] Optionally, the strain sensing layer is a carbon nanotube coating.

[0014] Carbon nanotube coatings exhibit high sensitivity. Compared to detecting muscle stretching in the human body using liquid metal, carbon nanotube coatings achieve an order-of-magnitude improvement in sensitivity, enabling precise detection of minute muscle belly expansion caused by superficial muscle contractions.

[0015] Optionally, the thermal feedback layer is a liquid metal layer.

[0016] This scheme uses a liquid metal layer to form a thermal feedback channel with Joule heating effect.

[0017] Optionally, the carbon nanotube coating is formed on the substrate by a blade coating transfer process.

[0018] Optionally, the liquid metal layer is formed on the substrate using a dispensing direct writing process.

[0019] This solution achieves high-precision layout of multiple heterogeneous materials, such as carbon nanotube coatings and liquid metal layers, on the same substrate through an integrated printing process combining scraping transfer and dispensing direct writing. This significantly improves the integration between functional modules, substantially reduces the overall thickness of the device, and ensures mechanical reliability under large deformations. Furthermore, the use of flexible electronic printing technology enables one-time molding and mass production, demonstrating potential for industrial application.

[0020] Optionally, the electromyography (EMG) acquisition layer is a PEDOT:PSS conductive polymer layer.

[0021] In the field of bioelectrical acquisition, traditional Ag / AgCl electrodes rely on hydrogels, which are prone to drying out, leading to a surge in impedance. This solution applies a PEDOT:PSS conductive polymer layer as a skin-adhesive dry electromyography electrode. Utilizing the ionic-electron hybrid conductivity of PEDOT:PSS, moisture binds to the material during wear, achieving a unique effect where impedance remains stable or even optimized over extended wear time, thus solving the industry challenge of long-term monitoring with dry electrodes.

[0022] On the other hand, this application provides a method for manufacturing a multimodal sensing feedback patch as described in the first aspect, comprising the following steps: A substrate is provided, the substrate including a first surface, the substrate being a flexible material; A strain sensing layer and a thermal feedback layer are formed on the first surface; An encapsulation layer is formed on the first surface, the strain sensing layer and the thermal feedback layer are located between the encapsulation layer and the substrate, and the encapsulation layer is made of a flexible material; An electromyography (EMG) acquisition layer is formed on the side of the encapsulation layer opposite to the substrate. The EMG acquisition layer achieves electrical isolation and physical spatial decoupling from the strain sensing layer and the thermal feedback layer through the encapsulation layer.

[0023] Compared with existing technologies, the beneficial effects achieved by this application are as follows: In this application, the substrate and encapsulation layer are made of flexible materials to conform to complex curved surfaces, meeting the needs of continuous wear and dynamic monitoring. A strain sensing layer and a thermal feedback layer are disposed between the substrate and the encapsulation layer. The strain sensing layer is used to detect the stretching state of human muscles, and the thermal feedback layer is suitable for passing current to generate Joule heating for thermal feedback. An electromyography (EMG) acquisition layer is disposed in the encapsulation layer for contact with human skin to collect EMG data. This application integrates strain sensing, EMG acquisition, and thermal feedback functional modules on the same substrate, making it suitable for dynamic information acquisition and tactile feedback in wearable human-computer interaction systems. Furthermore, in this application, the strain sensing layer and thermal feedback layer achieve electrical isolation and physical spatial decoupling from the EMG acquisition layer through the encapsulation layer. Stable signal transmission is achieved through structural isolation, suitable for high-sensitivity human signal acquisition scenarios. This application provides a standardized hardware platform for intelligent prosthetics, VR haptic clothing, etc., through the integrated design of sensing and feedback. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an exploded view of the multimodal sensing feedback patch in Embodiment 1 or 2 provided in this application;

[0026] Figure 2 This is a schematic diagram of the strain sensing layer, thermal feedback layer, and first conductive silver paste layer structure of Embodiment 2 provided in this application;

[0027] Figure 3 This is a schematic diagram of the electromyography acquisition layer and the second conductive silver paste layer structure of Embodiment 2 provided in this application;

[0028] Figure 4 This is a schematic diagram of the first conductive silver paste layer structure of Embodiment 2 provided in this application;

[0029] Figure 5 This is a schematic diagram of the second conductive silver paste layer structure provided in Embodiment 2 of this application;

[0030] Figure 6This is a curve showing the strain versus relative resistance variation of carbon nanotubes in Example 2 provided in this application.

[0031] Figure 7 This is a graph showing the relationship between the number of carbon nanotube cycles and the change in relative resistance in Example 2 provided in this application;

[0032] Figure 8 This is an impedance-frequency relationship diagram of the Ag / AgCl and PEDOT:PSS conductive polymer layers used as electrodes in Example 2 of this application.

[0033] Figure 9 This is a schematic diagram of the manufacturing method of Embodiment 3 or 4 provided in this application.

[0034] Explanation of reference numerals in the attached figures: 1-substrate; 2-strain sensing layer; 3-thermal feedback layer; 4-encapsulation layer; 5-electromyographic acquisition layer; 6-first conductive silver paste layer; 7-second conductive silver paste layer; 8-FPC adapter; 61-first wiring FPC; 71-second wiring FPC. Detailed Implementation

[0035] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure / application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0036] Example 1

[0037] This embodiment describes a multimodal sensing feedback patch, referencing... Figure 1 The multimodal sensing feedback patch in this embodiment includes a substrate 1. The substrate 1 is made of a flexible material, possessing high stretchability and the ability to conform to complex curved surfaces, thus meeting the requirements for continuous wear and dynamic monitoring. The substrate 1 has a first surface, on which a strain sensing layer 2 and a thermal feedback layer 3 are disposed. The strain sensing layer 2 and the thermal feedback layer 3 do not intersect. (Reference) Figure 2In some embodiments, the thermal feedback layer 3 is a frame shape with an opening on one side, and the strain sensing layer 2 is disposed within the frame shape. The strain sensing layer 2 is used to detect the stretching state of human muscles, and the thermal feedback layer 3 is adapted to pass current to generate Joule heating for thermal feedback. An encapsulation layer 4 is also disposed on the first surface of the substrate 1. The strain sensing layer 2 and the thermal feedback layer 3 are located between the encapsulation layer 4 and the substrate 1. Furthermore, the encapsulation layer 4 is also made of a flexible material, which encapsulates the strain sensing layer 2 and the thermal feedback layer 3. An electromyography (EMG) acquisition layer 5 is disposed on the side of the encapsulation layer 4 facing away from the substrate 1. The EMG acquisition layer 5 is used to contact human skin for EMG acquisition. The EMG acquisition layer 5 achieves electrical isolation and physical spatial decoupling from the strain sensing layer 2 and the thermal feedback layer 3 through the encapsulation layer 4.

[0038] This embodiment integrates strain sensing, electromyography (EMG) acquisition, and thermal feedback modules on a single substrate 1, making it suitable for dynamic information acquisition and tactile feedback in wearable human-computer interaction systems. Furthermore, in this embodiment, the strain sensing layer 2 and thermal feedback layer 3 are electrically isolated and physically decoupled from the EMG acquisition layer 5 through an encapsulation layer 4. This structural isolation ensures stable signal transmission, making it suitable for high-sensitivity human signal acquisition scenarios.

[0039] Example 2

[0040] Based on the same inventive concept as Embodiment 1, refer to Figure 1 and Figure 2 In this embodiment, both the substrate 1 and the encapsulation layer 4 are made of polydimethylsiloxane (PDMS). The substrate 1 and encapsulation layer 4 made of PDMS combine biocompatibility and flexibility, with a small overall thickness, high stretchability, and the ability to conform to complex curved surfaces, meeting the requirements for continuous wear and dynamic monitoring. Furthermore, in this embodiment, the strain sensing layer 2 is a carbon nanotube (CNT) coating, which is formed on the substrate 1 using a blade coating transfer process. (Reference) Figure 6 The strain-relative resistance change fitting curve is shown. Here, GF (sensitivity factor) = (resistance change / initial resistance value) / (strain change / initial strain). GF reflects the sensitivity of carbon nanotubes. Figure 6 As can be seen, the carbon nanotube coating exhibits high sensitivity (up to 10^78). Compared to detecting muscle stretching in the human body using liquid metal, the carbon nanotube coating achieves an order-of-magnitude increase in sensitivity, thus accurately detecting the minute muscle belly expansion caused by superficial muscle contraction. Furthermore, reference... Figure 7The relationship between the number of cycles and the change in relative resistance shows that carbon nanotubes also have good cycling stability. The resistance remains stable even after thousands of cycles. Furthermore, the thermal feedback layer 3 is a liquid metal layer, formed on the substrate 1 using a direct-write dispensing process. This liquid metal layer forms a thermal feedback channel with Joule heating effect. This embodiment uses an integrated printing process combining scraping transfer and direct-write dispensing. This achieves high-precision layout of multiple heterogeneous materials, such as carbon nanotube coatings and liquid metal layers, on the same substrate 1, greatly improving the integration between functional modules. In some embodiments, the thickness of the substrate 1 is 100 μm, and the thickness of the encapsulation layer 4 is 200 μm. The overall thickness of the multimodal sensing feedback patch prepared by the above process can be controlled within 400 μm, ensuring mechanical reliability under large deformation. In addition, the use of flexible electronic printing technology allows for one-time molding and mass production, possessing potential for industrial application.

[0041] refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 In this embodiment, conductive silver paste is used to fabricate the external circuitry for strain sensing, electromyography (EMG) acquisition, and thermal feedback. The high flexibility and conductivity of the conductive silver paste enhance wearability. Specifically, a first conductive silver paste layer 6 is disposed between the encapsulation layer 4 and the substrate 1. The first conductive silver paste layer 6 is electrically connected to both the strain sensing layer 2 and the thermal feedback layer 3. The first conductive silver paste layer 6 enables external connectivity between the strain sensing layer 2 and the thermal feedback layer 3. Furthermore, a second conductive silver paste layer 7 is disposed between the EMG acquisition layer 5 and the encapsulation layer 4. The second conductive silver paste layer 7 enables external connectivity between the EMG acquisition layer 5 and the substrate 4.

[0042] Further, refer to Figure 1 The first conductive silver paste layer 6 is electrically connected to a first wiring FPC (Flexible Printed Circuit). The second conductive silver paste layer 7 is electrically connected to a second wiring FPC 71. Both the first wiring FPC 61 and the second wiring FPC 71 are connected to an FPC adapter 8. The first conductive silver paste layer 6 and the second conductive silver paste layer 7 lead out signals through a unified FPC adapter 8, facilitating modular assembly and system integration. This solves the problems of messy leads and poor wearability when integrating multiple sensors.

[0043] In the field of bioelectrical sensing, traditional Ag / AgCl (silver / silver chloride) electrodes rely on hydrogels, which are prone to drying out, leading to a surge in impedance. In this embodiment, the electromyography (EMG) sensing layer 5 is a PEDOT:PSS (Poly(3,4-ethylenedioxythiophene) / poly(styrenesulfonate)) conductive polymer layer. The PEDOT:PSS conductive polymer layer is suitable for contact with human skin. Reference Figure 8 The impedance versus frequency graphs for Ag / AgCl and PEDOT:PSS conductive polymer electrodes show that, compared to the Ag / AgCl electrode, the PEDOT:PSS conductive polymer electrode exhibits more stable impedance at high frequencies. By applying the PEDOT:PSS conductive polymer layer as a skin-adhesive dry electromyography electrode, and utilizing the ion-electron hybrid conductivity of PEDOT:PSS, moisture binds to the material during wear, achieving a unique effect where impedance remains stable or even optimized over extended wear time. This solves the industry challenge of long-term monitoring with dry electrodes.

[0044] Example 3

[0045] This embodiment provides a method for fabricating a multimodal sensing feedback patch as described in Embodiment 1 or Embodiment 2, referencing... Figure 9 This includes the following steps:

[0046] S100, provides a substrate 1, the substrate 1 includes a first surface, the substrate 1 is a flexible material;

[0047] S200, a strain sensing layer 2 and a thermal feedback layer 3 are formed on the first surface;

[0048] S300, an encapsulation layer 4 is formed on the first surface, and a strain sensing layer 2 and a thermal feedback layer 3 are located between the encapsulation layer 4 and the substrate 1. The encapsulation layer 4 is made of a flexible material.

[0049] S400, an electromyography (EMG) acquisition layer 5 is formed on the side of the encapsulation layer 4 away from the substrate 1. The EMG acquisition layer 5 achieves electrical isolation and physical spatial decoupling from the strain sensing layer 2 and the thermal feedback layer 3 through the encapsulation layer 4.

[0050] Example 4

[0051] This embodiment, based on Embodiment 3, provides a specific method for fabricating a multimodal sensing feedback patch, referencing... Figure 9 This includes the following steps:

[0052] S100 provides a substrate 1, the substrate 1 includes a first surface, and the substrate 1 is made of a flexible material.

[0053] The steps include: selecting a PDMS film (polydimethylsiloxane film) with a thickness of 100um and a size of 40*50mm as substrate 1.

[0054] S200, a strain sensing layer 2 and a thermal feedback layer 3 are formed on the first surface.

[0055] The step of forming the strain sensing layer 2 on the first surface includes:

[0056] Coating: Prepare a PDMS film with a thickness of 200µm and a size of 30*30mm, and clean it in a plasma cleaner. During the cleaning process, the plasma cleaner power is 300W and the cleaning time is 30s. Place the CNT (carbon nanotube) aqueous dispersion in an ultrasonic cleaner and disperse it at room temperature for about 30 minutes. Connect the flexible electronic printer to the computer, draw the coating pattern, and adjust the printing height so that the coating blade is 0.12mm away from the PDMS film. Fix the glass slide covered with PDMS in the printing position. Next, use a pipette to draw about 50µL of CNT-based strain sensor ink and evenly cover one side of the PDMS film to form a CNT rectangular solution layer of about 3*30mm. Immediately afterward, start the coating program in the computer to form a uniform coating that completely covers the PDMS. After the coating has completely cured at room temperature, cut the PDMS covered with the CNT coating into a 14*24mm rectangle and peel it off intact.

[0057] Transfer: The substrate 1 and the PDMS film coated with CNT coating were placed together in a plasma cleaner for cleaning. During the cleaning process, the plasma cleaner power was 300W and the cleaning time was 30s. Then, the PDMS film coated with CNT coating was tightly bonded to the substrate 1 and placed in a hot press preheated to 70℃ for about 5 hours. After that, the small rectangular PDMS was removed to transfer the CNT coating onto the substrate 1 to form the strain sensing layer 2.

[0058] The steps of forming the thermal feedback layer 3 on the substrate 1 include:

[0059] After removing the PDMS film from the CNT coating, the substrate 1 with the CNT coating transferred is laid flat on a clean glass slide. After carefully removing air bubbles from the PDMS and the glass slide with lint-free paper, the glass slide is placed in a flexible electronic printer. An unsealed liquid metal is printed 1.5 mm around the CNT coating. After printing, the substrate 1 is placed on an 80°C hot plate and heated for 15 minutes until the liquid metal channel is cured to form a thermal feedback layer 3.

[0060] After forming the strain sensing layer 2 and the thermal feedback layer 3 on the first surface, the process further includes: printing silver paste on the first surface, and after printing, placing it on a hot table at 140°C and heating it for 3 hours until the silver paste is completely cured to form the first conductive silver paste layer 6.

[0061] S300, an encapsulation layer 4 is formed on the first surface, and a strain sensing layer 2 and a thermal feedback layer 3 are located between the encapsulation layer 4 and the substrate 1. The encapsulation layer 4 is made of a flexible material.

[0062] The steps include: selecting a PDMS film with a thickness of 200um and a size of 40*50mm as the encapsulation layer 4; placing it in a plasma cleaner for cleaning, with the plasma cleaner power at 300W and the cleaning time at 30s. After cleaning, printing silver paste and heating it on a hot plate at 140℃ for 3 hours until the silver paste is completely cured to form the second conductive silver paste layer 7.

[0063] A thin layer of silver paste is applied to the electrode where the second wiring FPC71 contacts the second conductive silver paste layer 7, and then bonded to the electrode of the cured second conductive silver paste layer 7. After bonding, it is placed in a hot press at 140°C to fix the second wiring FPC71 onto the first conductive silver paste layer 6. Similarly, the first wiring FPC61 is connected to the first conductive silver paste layer 6.

[0064] The encapsulation layer 4 is stacked on the first surface, and the first wiring FPC61 and the second wiring FPC71 are fixed using the FPC adapter 8. The bonding is completed by hot pressing in a hot press preheated to 70°C for about 5 hours.

[0065] S400, an electromyography (EMG) acquisition layer 5 is formed on the side of the encapsulation layer 4 opposite to the substrate 1. The EMG acquisition layer 5 achieves electrical isolation and physical spatial decoupling from the strain sensing layer 2 and the thermal feedback layer 3 through the encapsulation layer 4.

[0066] The steps include: dripping a mixed solution based on PEDOT:PSS onto the second conductive silver paste layer 7 and heating and drying it on a hot stage to form the electromyography acquisition layer 5.

[0067] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this disclosure / application, and these improvements and modifications should also be considered within the protection scope of this disclosure / application.

Claims

1. A multimodal sensing feedback patch, characterized in that, include: The substrate (1) includes a first surface and is made of a flexible material; A strain sensing layer (2) and a thermal feedback layer (3) are disposed on the first surface, wherein the strain sensing layer (2) is used to detect the stretching state of human muscles, and the thermal feedback layer (3) is adapted to pass an electric current to generate Joule heating. The encapsulation layer (4) is stacked on the first surface, the strain sensing layer (2) and the thermal feedback layer (3) are located between the encapsulation layer (4) and the substrate (1), and the encapsulation layer (4) is made of flexible material; Electromyography (EMG) acquisition layer (5) is disposed on the side of the encapsulation layer (4) away from the substrate (1). The EMG acquisition layer (5) is used to contact human skin for EMG acquisition. The EMG acquisition layer (5) achieves electrical isolation and physical spatial decoupling from the strain sensing layer (2) and the thermal feedback layer (3) through the encapsulation layer (4).

2. The multimodal sensing feedback patch according to claim 1, characterized in that, A first conductive silver paste layer (6) is provided between the encapsulation layer (4) and the substrate (1). The first conductive silver paste layer (6) is electrically connected to the strain sensing layer (2) and the thermal feedback layer (3) respectively. A second conductive silver paste layer (7) is provided between the electromyography acquisition layer (5) and the encapsulation layer (4).

3. The multimodal sensing feedback patch according to claim 2, characterized in that, The first conductive silver paste layer (6) is electrically connected to a first wiring FPC (61), and the second conductive silver paste layer (7) is electrically connected to a second wiring FPC (71). Both the first wiring FPC (61) and the second wiring FPC (71) are connected to an FPC adapter (8).

4. The multimodal sensing feedback patch according to claim 1, characterized in that, The substrate (1) and the encapsulation layer (4) are both made of polydimethylsiloxane.

5. The multimodal sensing feedback patch according to claim 4, characterized in that, The strain sensing layer (2) is a carbon nanotube coating.

6. The multimodal sensing feedback patch according to claim 5, characterized in that, The carbon nanotube coating is formed on the substrate (1) by a blade coating transfer process.

7. The multimodal sensing feedback patch according to claim 4, characterized in that, The thermal feedback layer (3) is a liquid metal layer.

8. The multimodal sensing feedback patch according to claim 7, characterized in that, The liquid metal layer is formed on the substrate (1) by a dispensing direct writing process.

9. The multimodal sensing feedback patch according to claim 1, characterized in that, The electromyography acquisition layer (5) is a PEDOT:PSS conductive polymer layer.

10. A method for manufacturing a multimodal sensing feedback patch as described in any one of claims 1-9, characterized in that, Includes the following steps: A substrate (1) is provided, the substrate (1) including a first surface, the substrate (1) being a flexible material; A strain sensing layer (2) and a thermal feedback layer (3) are formed on the first surface; An encapsulation layer (4) is formed on the first surface, the strain sensing layer (2) and the thermal feedback layer (3) are located between the encapsulation layer (4) and the substrate (1), and the encapsulation layer (4) is made of a flexible material; An electromyography (EMG) acquisition layer (5) is formed on the side of the encapsulation layer (4) away from the substrate (1). The EMG acquisition layer (5) achieves electrical isolation and physical spatial decoupling from the strain sensing layer (2) and the thermal feedback layer (3) through the encapsulation layer (4).

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