Sensing and driving integrated intelligent posture correction system based on triboelectricity-shape memory alloy

Abstract

The invention discloses a sensing and driving integrated intelligent posture correction system based on triboelectricity-shape memory alloy. The system comprises a plurality of SMA-TENG units, a plurality of SMA-TENG units, a plurality of SMA-TENG units and a plurality of SMA-TENG units, and the circuit module is respectively connected with the SMA-TENG units, and is used for providing a driving current for one or more of the SMA-TENG units. Through the innovative design of the core-shell structure, SMA is reused, the sensing and driving functions are realized at the same time, and the structure of the driver is greatly simplified; external stimulation is directly converted into an electric signal by using a triboelectricity principle; the aerogel modified silica gel layer is designed by fusing multifunctional materials, so that the aerogel modified silica gel layer has the functions of prestress enhancement and heat management; the equipment is designed and arranged according to the conditions of people of different ages, so that the effect is maximized; and finally, through a reasonable sensing-driving closed-loop control circuit design, the system generates local correction force immediately when the posture deviates, and automatically stops driving after the posture recovers, so that excessive intervention is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of temperature change driving, in particular to a sensing-driving integrated intelligent posture correction system based on triboelectricity-shape memory alloy, a SMA-TENG unit manufacturing method and a sensing-driving integrated intelligent posture correction control method based on triboelectricity-shape memory alloy. BACKGROUND

[0002] Poor posture has become a global health problem, involving both adolescents and sedentary office workers. Adolescents are prone to thoracic kyphosis and cervical stress concentration due to long periods of desk work or electronic device use, which can induce mild scoliosis and neck and back pain. Office workers are prone to chronic neck and shoulder syndrome, lumbar muscle strain and spinal degenerative changes due to long periods of sitting and unreasonable posture, significantly increasing the risk of back pain. Epidemiological studies have shown that more than 60% of Americans and 50% of Europeans will experience neck and back pain at least once in their lifetime, and this problem is on the rise in the younger population. However, the existing posture correction technologies have the following defects: 1. Back brace posture correctors: support the spine with external force to correct posture, but long-term use can cause discomfort, compression of blood flow and muscle dependence; 2. Surgical procedures (such as spinal fusion): suitable for severe spinal deformities, but costly, long recovery period and large differences in efficacy; 3. Wearable monitoring devices based on intelligent materials and robotic technology: can achieve real-time monitoring, but lack sustained active correction capabilities, or the driving unit is bulky and affects comfort; 4. Traditional exoskeleton systems: can provide strong support, but are heavy, have limited mobility and often lack self-sensing feedback. SUMMARY

[0003] The purpose of the present application is to provide a sensing-driving integrated intelligent posture correction system based on triboelectricity-shape memory alloy to at least solve one of the above technical problems.

[0004] In one aspect of the present application, a sensing-driving integrated intelligent posture correction system based on triboelectricity-shape memory alloy is provided, which comprises: a plurality of SMA-TENG units; a circuit module connected to each SMA-TENG unit, for providing driving current to one or more of the SMA-TENG units.

[0005] Optionally, the SMA-TENG unit comprises: a core layer; an aerogel modified silica gel composite layer, which is sleeved outside the core layer; an FEP friction layer, which is sleeved outside the aerogel modified silica gel composite layer; a conductive ink layer, which is sleeved outside the FEP friction layer; a latex tube shell, which is sleeved outside the conductive ink layer.

[0006] Optionally, the core layer is made of a nickel-titanium alloy SMA spring.

[0007] The application also provides an SMA-TENG unit manufacturing method as described above, which comprises the following steps: manufacturing a core layer, which is made of a nickel-titanium alloy SMA spring as a dual-functional carrier for driving and sensing, and the nickel-titanium alloy SMA spring is pretreated by a plasma cleaning machine; manufacturing an aerogel modified silica gel composite inner layer solution, which is prepared by a sol-gel method, aerogel powder is dissolved in a DMAC solution at a mass ratio of 1:5, the aerogel modified silica gel composite inner layer solution is coated outside the core layer 11 and placed in a fume hood for air drying, and the above steps are repeated for 3 times, so as to obtain a first composite; manufacturing an aerogel modified silica gel composite outer layer, aerogel is mixed with silica gel at a mass ratio of 3:10, the aerogel modified silica gel composite outer layer is coated outside the first composite and then solidified, so as to obtain a second composite; the aerogel modified silica gel composite inner layer and the aerogel modified silica gel composite outer layer constitute an aerogel modified silica gel composite layer; manufacturing a conductive ink layer, the conductive ink is uniformly coated on the FEP friction layer, and the FEP friction layer coated with the conductive ink layer is solidified at room temperature for 72 hours; winding the FEP friction layer coated with the conductive ink layer around the surface of the second composite, so as to obtain a third composite; sleeving a latex tube shell outside the third composite, so as to obtain an SMA-TENG unit.

[0008] The application also provides an SMA-TENG unit, which is manufactured by the SMA-TENG unit manufacturing method as claimed in claim 4.

[0009] The application also provides a frictional electricity-shape memory alloy-based sensing-driving integrated intelligent attitude correction control method, which is used in the frictional electricity-shape memory alloy-based sensing-driving integrated intelligent attitude correction system as described above, and the method comprises the following steps: Each SMA-TENG unit acquires a triboelectric signal generated by deformation; The circuit module acquires the triboelectric signal; The circuit module generates a driving current for driving each SMA-TENG unit according to the triboelectric signal.

[0010] Optionally, the circuit module generating a driving current for driving each SMA-TENG unit according to the triboelectric signal comprises: The original triboelectric signal is input into a signal amplifier for amplitude enhancement, and then passes through a low-pass filter to filter out high-frequency interference noise, completes signal conditioning, and thus acquires a stable triboelectric signal; Based on a PID control algorithm, the stable triboelectric signal is calculated to obtain a PID control quantity; A PWM driving signal is generated according to the PID control quantity; The PWM driving signal is sent to each SMA-TENG unit that needs to receive the PWM driving signal, so that the SMA-TENG unit receiving the PWM driving signal is heated and undergoes phase change shrinkage.

[0011] Optionally, before the calculation of the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity, the circuit module generating a driving current for driving each SMA-TENG unit according to the triboelectric signal further comprises: The real-time working voltage and current in each SMA-TENG unit are acquired; The preset force vector angle of each SMA-TENG unit is acquired respectively; The basic parameter information of the SMA-TENG unit is acquired; The unit force arm of each SMA-TENG unit is acquired respectively; The real-time temperature of each SMA-TENG unit is acquired according to the real-time working voltage and current of each SMA-TENG unit and the basic parameter information of the SMA-TENG unit; The real-time elastic modulus of each SMA-TENG unit is acquired according to the real-time temperature of the SMA-TENG unit; The compensated triboelectric signal of each SMA-TENG unit with regional force arm identification is acquired according to the real-time temperature of the SMA-TENG unit and the real-time elastic modulus of the SMA-TENG unit; The corresponding regional ideal correction force of each SMA-TENG unit is acquired; The ideal torque and ideal reference signal of each SMA-TENG unit are obtained based on the ideal correction force of the region corresponding to each SMA-TENG unit. The actual regional torque and the regional torque deviation of each SMA-TENG unit are obtained based on the ideal regional torque and the ideal regional correction force of each SMA-TENG unit. The total torque deviation is obtained based on the actual regional torque of each SMA-TENG element and the regional torque deviation of each SMA-TENG element.

[0012] Optionally, the step of calculating the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity includes: The total torque deviation is obtained based on the regional torque deviation of each SMA-TENG unit, and the total PID control quantity for each SMA-TENG unit is generated.

[0013] Optionally, generating the PWM drive signal based on the PID control quantity includes: The target phase transition temperature of each SMA-TENG unit is obtained based on the regional torque deviation of each SMA-TENG unit. The target contractile force and target contractile amount of each SMA-TENG unit are obtained based on the ideal torque of the region of each SMA-TENG unit and the target phase transition temperature of each SMA-TENG unit. The corrected current for each SMA-TENG unit is obtained based on the target contraction force and the target contraction amount of each SMA-TENG unit. The PWM parameters for each SMA-TENG unit are generated based on the corrected current of each SMA-TENG unit.

[0014] This application presents an intelligent posture correction system based on triboelectric-shape memory alloy (SMMA) that integrates sensing and actuation. Through an innovative core-shell structure design that reuses SMA, it simultaneously achieves sensing and actuation functions, significantly simplifying the actuator structure. Utilizing the principle of triboelectricity, it directly converts external stimuli into electrical signals. A multifunctional material fusion design incorporates an aerogel-modified silicone layer, providing both pre-stress reinforcement and heat management. The system's layout is tailored to different age groups to maximize its effectiveness. Finally, a rationally designed sensing-actuator closed-loop control circuit enables the system to generate local corrective force immediately upon posture deviation and automatically stop actuation after posture recovery, avoiding excessive intervention. This design concept provides a lightweight, intelligent, and highly adaptable solution for daily posture correction in adolescents, spinal health management for sedentary office workers, and dynamic support in rehabilitation medicine. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the sensor-driven integrated shape memory alloy-triboelectric drive device of the present invention. Figure 2 This is a flowchart illustrating the sensing function of the integrated shape memory alloy-triboelectric drive device of the present invention. Figure 3 This is a diagram showing the sensing signals of the integrated shape memory alloy-triboelectric drive device of the present invention for different magnitudes of force. Figure 4 The complete control flowchart for realizing the integration of sensing and driving in the integrated shape memory alloy-triboelectric drive device of the present invention is shown below. Figure 5 This is a diagram of the sensor-driven integrated attitude correction system based on SMA-TENG of the present invention; Figure 6 This is a schematic diagram of the SMA-TENG-based sensor-driven integrated posture correction system installed on a human body, according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the SMA-TENG-based sensor-driven posture correction system installed on a human body, according to another embodiment of the present invention.

[0016] Figure label: 1. SMA-TENG unit; 11. Core layer; 12. Aerogel-modified silicone composite layer; 13. FEP friction layer; 14. Conductive ink layer; 15. Latex tube shell; 2. Force sensor; 3. Linear motor; 4. High-resistance electrometer; 5. Control terminal display; 6. Circuit module. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0018] like Figure 1 The intelligent attitude correction system based on triboelectric-shape memory alloy shown includes an SMA-TENG unit and a circuit module, wherein... There are multiple SMA-TENG units; The circuit module is connected to each SMA-TENG unit to provide drive current to one or more of the SMA-TENG units.

[0019] In this embodiment, the circuit module includes a signal amplifier, a low-pass filter, a 12-bit analog-to-digital converter (ADC), a PID control unit, a PWM control unit, a PWM drive circuit, a MOSFET switch array, and a power supply module; wherein, the input terminal of the signal amplifier is connected to the conductive ink layer and SMA electrode of each SMA-TENG unit respectively. The output of the signal amplifier is connected to the input of the low-pass filter; The signal amplifier is used to receive the original triboelectric signal derived from the SMA-TENG unit through the conductive ink electrode and the SMA electrode; it performs amplitude enhancement processing on the weak original triboelectric signal to solve the problems of signal susceptibility to environmental interference and insufficient amplitude, and provides a clear and identifiable signal source for subsequent low-pass filter filtering.

[0020] The input of the low-pass filter is connected to the output of the signal amplifier, and the output is connected to the input of the 12-bit analog-to-digital converter (ADC).

[0021] The low-pass filter is used to receive the triboelectric signal after it has been amplified by the signal amplifier, filter out high-frequency interference noise (such as noise generated by human activity outside the detection range and external electromagnetic interference signals) mixed in the signal, and output a stable and pure triboelectric analog signal to avoid errors in subsequent attitude deviation judgment caused by noise and ensure the accuracy of the signal in the digital processing stage.

[0022] The input of the 12-bit analog-to-digital converter (ADC) is connected to the output of the low-pass filter, and the output is connected to the input of the PID control unit. The 12-bit analog-to-digital converter (ADC) converts the stable triboelectric analog signal output from the low-pass filter into a digital signal; the digital signal is then transmitted to the PID control unit, providing digital data support for the PID control unit to perform torque calculation and real-time temperature monitoring of the SMA.

[0023] The input terminal of the PID control unit is connected to the output terminal of the 12-bit analog-to-digital converter (ADC), and the output terminal is connected to the input terminal of the PWM control unit and the control terminal, respectively. Based on the computing power of the core controller of the circuit module, the PID control unit receives the digital signals transmitted by the 12-bit analog-to-digital converter and completes multiple steps of operations in combination with preset parameters (the regional force arms of each SMA-TENG unit, the preset force vector angle, the regional ideal correction force): calculates the real-time temperature of each SMA-TENG unit according to the real-time voltage, current and the basic parameters of SMA (specific heat capacity, density, length of nickel-titanium alloy); corrects the real-time elastic modulus of SMA based on the real-time temperature, compensates the triboelectric signal in combination with the force vector angle, and obtains the compensated signal with regional force arm identification; compares the regional ideal torque with the actual torque, and calculates the regional torque deviation and the total torque deviation of each SMA-TENG unit; generates the corresponding PID total control quantity for each SMA-TENG unit based on the PID algorithm (for example, proportional coefficient KP = 1.2, integral coefficient KI = 0.8, differential coefficient KD = 0.3) to ensure the accurate matching of the correction force and the attitude deviation; at the same time, transmits data such as the attitude deviation signal and the PID control quantity to the control terminal.

[0024] The PWM control unit, the input end of the PWM control unit is connected to the output end of the PID control unit, and the output end is connected to the input end of the PWM drive circuit.

[0025] The PWM control unit is used to receive the PID total control quantity output by the PID control unit, calculate the target contraction force and the target contraction quantity of each SMA-TENG unit in combination with the target phase change temperature; based on the target contraction parameters and the real-time resistance of SMA, inversely deduce the corrected current; generate the corresponding PWM duty cycle parameter (limiting range 0 < D ≤ 0.9) according to the corrected current, and output the PWM drive signal to the PWM drive circuit.

[0026] The input end of the PWM drive circuit is connected to the output end of the PWM control unit, and the output end is connected to the output end of the MOS transistor switch array. The PWM drive circuit is used to receive the PWM drive signal transmitted by the PWM control unit, amplify the power of the signal to ensure that the signal strength can meet the heating phase change requirements of the SMA-TENG unit; realize multi-channel signal distribution through the Mos transistor switch array, and accurately send the PWM signals with different duty cycles to the corresponding Mos transistors, laying the foundation for subsequent control of the heating current of the SMA-TENG unit.

[0027] A MOSFET switching array is used, with its input connected to a PWM drive circuit and its output connected to each SMA-TENG unit. The MOSFET switching array serves as an intermediate control node between the PWM drive circuit and the SMA-TENG units, responding to signal commands from the PWM drive circuit to independently control the power supply circuit of each SMA-TENG unit. It supports differentiated driving of SMA-TENG units in multiple regions (e.g., independent adjustment of heating current for shoulder, waist, and lumbosacral units), avoiding interference between signals from different channels and achieving precise local posture correction.

[0028] The power supply module is used to supply power to the signal amplifier, low-pass filter, 12-bit analog-to-digital converter (ADC), PID control unit, PWM control unit, PWM drive circuit, MOSFET switch array, and control terminal, respectively.

[0029] The control terminal receives attitude deviation signals, PID control quantities, PWM duty cycle parameters, SMA real-time temperature and other data transmitted from the PID control unit, and transmits them in real time to the external control terminal (computer and monitor) for display; at the same time, it receives parameter adjustment commands (such as modification of the ideal correction force of the region) issued by the control terminal and feeds the commands back to the PID control unit to realize human-machine interaction and dynamic optimization of system parameters.

[0030] In this embodiment, the intelligent attitude correction system based on triboelectric-shape memory alloy of this application may further include a control terminal, which is connected to the circuit module.

[0031] In this embodiment, the SMA-TENG unit includes a core layer 11, an aerogel-modified silicone composite layer 12, an FEP friction layer 13, a conductive ink layer 14, and a latex tube outer shell 15, wherein the aerogel-modified silicone composite layer 12 is sleeved on the outside of the core layer 11. FEP friction layer 13 is sleeved on the outside of the aerogel modified silicone composite layer 12; The conductive ink layer 14 is applied to the outside of the FEP friction layer 13; The latex tube outer shell 15 is fitted over the conductive ink layer 14.

[0032] In this embodiment, the core layer 11, the aerogel-modified silicone composite layer 12, the FEP friction layer 13, the conductive ink layer 14, and the latex tube outer shell 15 constitute... Figure 1 The main structure 1.

[0033] In this embodiment, the core layer 11 is made of nickel-titanium alloy SMA spring.

[0034] This application also provides a method for fabricating SMA-TENG cells as described above, the method comprising: This application also provides a method for fabricating the SMA-TENG cell as described above, characterized in that the SMA-TENG cell fabrication method includes: The core layer 11 is fabricated, and the core layer 11 uses a nickel-titanium alloy SMA spring as a dual-function carrier for driving and sensing. The nickel-titanium alloy SMA spring is pretreated by a plasma cleaner. An aerogel-modified silica composite inner layer solution was prepared by a sol-gel method. Aerogel powder was dissolved in DMAC solution at a mass ratio of 1:5. The aerogel-modified silica composite inner layer solution was applied to the outside of the core layer 11 and dried in a fume hood. This process was repeated 3 times to obtain the first composite. To prepare an aerogel-modified silica composite outer layer, aerogel is mixed with silica at a mass ratio of 3:10. The aerogel-modified silica composite outer layer is then applied to the exterior of the first composite and cured to obtain a second composite. The aerogel-modified silica composite inner layer and the aerogel-modified silica composite outer layer together constitute the aerogel-modified silica composite layer 12. To prepare a conductive ink layer 14, the conductive ink is uniformly coated onto the FEP friction layer 13 and cured at room temperature for 72 hours to obtain an FEP friction layer 13 coated with the conductive ink layer 14. A third composite is obtained by wrapping an FEP friction layer 13 coated with a conductive ink layer 14 around the surface of the second composite. A latex tube shell 15 is fitted over the third composite to obtain the SMA-TENG unit 1.

[0035] This application also provides an SMA-TENG unit, which is fabricated using the SMA-TENG unit fabrication method described above.

[0036] The SMA-TENG unit of this application has the following advantages: (1) Low cost SMA-TENG is made from materials such as shape memory alloy springs, silicone, aerogel, FEP film, conductive ink, and latex tubing, using a special method, resulting in low cost.

[0037] (2) The system structure is simple. SMA-TENG reuses the SMA structure, making it both a sensing unit and a driving module. The back-end wiring only requires three wires, the required materials are simple, and it is prepared by a unique method without the need for complex structures and chemical preparations. The construction of the back-end system is also very convenient.

[0038] (3) Sensor self-driving Most sensors require an external battery for power, but by utilizing the triboelectric properties, sensors can be self-driven and do not require an external power source.

[0039] (4) High sensor sensitivity Most shape memory alloy sensors use the principle of resistance sensing, which is easily affected by factors such as temperature and has low sensitivity. However, high-sensitivity sensing can be achieved by utilizing triboelectric properties.

[0040] (5) Heat management Traditional shape memory alloy self-sensing sensors have not addressed the impact of temperature on sensing performance during the actuation process. By designing an aerogel-modified silicone composite layer, heat management of the SMA-TENG was achieved. This effectively isolates heat without affecting its actuation performance, significantly reducing the impact of Joule heating on sensing performance.

[0041] (6) Real-time monitoring Most sensors cannot transmit signals in real time, but can only upload a segment of the signal. However, SMA-TENG can provide real-time feedback of external excitation signals and output the recognition results, thus achieving closed-loop control.

[0042] Please refer to Figure 2 This application also provides a sensing and testing system for an integrated intelligent attitude correction system based on triboelectric-shape memory alloy, comprising an integrated intelligent attitude correction system based on triboelectric-shape memory alloy, a mechanical sensor 2, a linear motor 3, a high-resistance electrometer 4, and a control terminal display 5. The linear motor 3 simulates changes in the external dynamic environment, and the mechanical sensor 2 adjusts the magnitude of the dynamic force to continuously excite the SMA-TENG. The SMA-TENG uses the triboelectric principle to convert the mechanical energy of the external environment into electrical energy, and then transmits the generated electrical signal to the high-resistance electrometer 4. The high-resistance electrometer then transmits the result to the control terminal display 5, providing a signal curve, thus realizing the perception of the external environment.

[0043] Please refer to Figure 3 The triboelectric-shape memory alloy-based integrated intelligent posture correction system acquires electrical signals generated by external stimuli through the SMA-TENG. The principle behind this signal generation is as follows: When the external environment applies different degrees of force to the SMA-TENG1, the SMA-TENG1 undergoes deformations such as pressing, bending, twisting, and stretching. The aerogel-modified silicone composite layer 12 and the FEP friction layer 13 then come into contact and separate. Under the influence of contact electrification and electrostatic induction, triboelectric signals are generated. The generated triboelectric signals vary depending on the applied force.

[0044] Please refer toFigure 6 In one embodiment, the triboelectric-shape memory alloy-based sensor-driven intelligent posture correction system of this application is installed on the user to assist the user in posture correction. Specifically, in this embodiment, there are multiple SMA-TENG units, of which two SMA-TENG units arranged at the C7 (seventh cervical vertebra) of the spine serve as a shoulder SMA-TENG unit group, three SMA-TENG units arranged at L1 (first thoracic vertebra) serve as a lumbar SMA-TENG unit group, and two SMA-TENG units arranged at S1 (first lumbar vertebra) serve as a lumbosacral SMA-TENG unit group, with angles of 20°, 15°, and 10° respectively, thereby achieving the maximum effect of corrective force; the circuit module 6 is integrated in the waist, transmits signals to the interface of the control terminal 5, and performs PWM multi-channel control to achieve local correction.

[0045] See Figure 7 In another embodiment, based on the established SMA-TENG closed-loop control strategy, we further optimized its spatial layout to achieve precise posture correction driven by biomechanics. This study, based on the functional anatomy and biomechanical analysis of the core muscle groups, proposes a multi-actuator synergistic array scheme, aiming to simulate physiological muscle synergy and provide targeted intervention for common postural imbalances. The stability of upright posture depends on the synergistic effect of the core muscle groups: Shoulder stabilizing muscles (including the middle / lower trapezius, rhomboids, and serratus anterior) work together to prevent the scapula from tilting forward and elevating, thus counteracting rounded shoulders. The core muscles of the lower back (including the erector spinae, quadratus lumborum, and transversus abdominis) form a "natural waist belt" to maintain the physiological curvature of the lumbar spine. Based on the above anatomical features, we deployed SMA-TENG in three functional areas: the shoulder module is placed in the trapezius-deltoid space, oriented towards the midline of the spine to simulate the direction of the complex muscle force, generating the optimal scapular retraction torque; The lumbar module is arranged along the lateral edge of the erector spinae muscle (L1-L5 segments) at an angle of 15°-20° to the spine, generating lateral corrective torque to assist the erector spinae muscle in resisting kyphosis and providing axial extension force. Its lateral component also assists in correcting scoliosis. The lumbosacral module is located at the L4-L5 spinous processes, with the center of the sacrum as the target point, forming a force couple with the lumbar module to achieve coordinated adjustment of the lumbosacral region.

[0046] The corrective effect of the SMA actuator depends on the relative relationship between the force vector it generates and the axis of spinal deformity. Let the force generated by the actuator be Fi, and its lever arm relative to the spinal centerline be ri, then the corrective torque is: τi = ri × Fi; The total corrective torque is the vector sum of the torques at each point:

[0047] To maximize the effect, the following must be satisfied: Shoulder driver (see) Figure 7 It includes two SMA-TENG units: the force vector should be directed downward and backward (at an angle of 20°–30° with the horizontal plane) to generate scapular adduction torque (to counteract rounded shoulders) and extension torque (to counteract kyphosis).

[0048] Waist drive (see) Figure 7 It includes two SMA-TENG units: the force vector should be directed towards the midline and slightly upward (at an angle of 10°–15° with the coronal plane) to provide lateral corrective torque (counteracting scoliosis) and axial tensile torque (reducing intervertebral disc pressure) for the lumbar spine.

[0049] Lumbar actuators (see) Figure 7 (Including an SMA-TENG unit): The force vector should be perpendicular to the center of the sacrum to provide torque for lumbar curvature restoration.

[0050] Please refer to Figure 4 The complete control flowchart of the SMA-TENG sensor-driven integrated circuit is shown below. The SMA-TENG unit outputs electrical signals through conductive ink electrodes 14, which are then transmitted to the integrated circuit module via enameled wire. The integrated circuit module amplifies, filters, and digitizes the signals. The processed analog signal is then sent to a controller in a circuit module 6. This controller adjusts the drive current of the SMA-TENG by modulating the duty cycle of the pulse width modulation (PWM) command. Finally, the duty cycle result is displayed on the control terminal 5 interface, enabling real-time monitoring and system control adjustment.

[0051] This application also provides a triboelectric-shape memory alloy-based integrated intelligent attitude correction control method for use in the triboelectric-shape memory alloy-based integrated intelligent attitude correction system described above. The triboelectric-shape memory alloy-based integrated intelligent attitude correction control method includes: Each SMA-TENG unit acquires the triboelectric signal generated by deformation; in the above... Figure 6 as well as Figure 7 In the embodiment, each SMA-TENG unit generates a triboelectric signal through deformation; The circuit module acquires the triboelectric signal; The circuit module generates a drive current for driving each of the SMA-TENG units based on the triboelectric signal.

[0052] In this embodiment, the circuit module generates a drive current for driving each of the SMA-TENG units based on the triboelectric signal, including: The original triboelectric signal is fed into a signal amplifier for amplitude enhancement, and then a low-pass filter is used to filter out high-frequency interference noise to complete signal conditioning, thereby obtaining a stable triboelectric signal. exist Figure 6 , Figure 7 In the embodiments shown, there are different numbers of SMA-TENG units. Since the control methods of each SMA-TENG unit are the same, only the specific control values ​​are different, the specific control method of one SMA-TENG unit is arbitrarily selected for description.

[0053] Based on the PID control algorithm, the stable triboelectric signal is calculated to obtain the PID control quantity; Generate PWM drive signals based on PID control values; The PWM drive signal is sent to each SMA-TENG unit that needs to receive the PWM drive signal, thereby causing the SMA-TENG unit that receives the PWM drive signal to heat up and undergo phase change contraction.

[0054] In this embodiment, before calculating the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity, the circuit module further includes the following steps to generate the drive current for driving each SMA-TENG unit based on the triboelectric signal: Obtain the real-time operating voltage and current of each SMA-TENG unit; Obtain the preset force vector angle for each SMA-TENG element; Obtain the basic parameter information of the SMA-TENG unit; in this embodiment, the basic parameter information of the SMA-TENG unit includes the specific heat capacity and density of the nickel-titanium alloy, and the length of each nickel-titanium alloy SMA spring; Obtain the element lever arm for each SMA-TENG element; The real-time temperature of each SMA-TENG unit is obtained based on the real-time operating voltage and current of each SMA-TENG unit and the basic parameter information of each SMA-TENG unit. In this embodiment, the real-time temperature of each SMA-TENG unit is calculated using the following formula: ; in, The real-time temperature of the SMA-TENG unit; The ambient temperature at the current time, for example, 25 degrees Celsius; This refers to the real-time operating voltage in the SMA-TENG unit. This refers to the real-time operating current in the SMA-TENG unit. The mass of the nickel-titanium alloy SMA spring can be calculated from its density, diameter, and length. The specific heat capacity of nickel-titanium alloy; The signal sampling time interval; The real-time elastic modulus of each SMA-TENG unit is obtained based on the real-time temperature of the SMA-TENG unit. In this embodiment, the real-time elastic modulus of each SMA-TENG element is calculated using the following formula: ; in, This represents the real-time elastic modulus of the SMA-TENG element at the current temperature. The elastic modulus of the SMA-TENG element at room temperature (T0); The real-time temperature of the SMA-TENG element at time t; In this embodiment, the elastic modulus decreases as the temperature increases. The formula corrects for the normal temperature elastic modulus by adjusting the temperature difference to obtain the actual elastic modulus at the current temperature. Based on the real-time temperature and real-time elastic modulus of the SMA-TENG unit, the compensated triboelectric signal of each SMA-TENG unit with regional lever arm markings is obtained. In this embodiment, the compensated triboelectric signal of the SMA-TENG unit with regional lever arm markings is obtained using the following formula: ; in, The compensated triboelectric signal of the SMA-TENG unit with regional lever arm markings; To stabilize the triboelectric signal; The room temperature elastic modulus of the SMA-TENG unit; The real-time elastic modulus of the SMA-TENG element; The force vector angles of the SMA-TENG unit (e.g., shoulder = 25°, waist = 12.5°, lumbosacral = 0°, known when the SMA-TENG unit is installed).

[0055] Simultaneously, the compensated triboelectric signal of the SMA-TENG unit, marked with a regional lever arm, is associated with the corresponding regional lever arm of the SMA-TENG unit. This allows us to obtain the compensated triboelectric signal with regional lever arm markings.

[0056] Obtain the ideal corrective force for the region corresponding to each SMA-TENG unit; The ideal torque and ideal reference signal of each SMA-TENG unit are obtained based on the ideal correction force of the region corresponding to each SMA-TENG unit. In this embodiment, the ideal reference signal corresponding to the SMA-TENG unit is calculated using the following formula: ; in, This is the ideal reference signal corresponding to the SMA-TENG unit; For signal-torque calibration coefficients; This represents the ideal moment in the region corresponding to the SMA-TENG element; In this embodiment, the ideal torque of the region corresponding to the SMA-TENG element is obtained by the following formula: ; in, This refers to the region lever arm corresponding to the SMA-TENG element; The ideal corrective force corresponding to the SMA-TENG unit (set as needed); The actual regional torque and the regional torque deviation of each SMA-TENG unit are obtained based on the ideal regional torque and the ideal regional correction force of each SMA-TENG unit. In this embodiment, the actual regional torque of each SMA-TENG unit is obtained using the following formula: ; in, For signal-torque calibration coefficients; The compensated triboelectric signal of the SMA-TENG unit with regional lever arm markings; The regional moment deviation of each SMA-TENG element is calculated using the following formula: ; in, This refers to the regional torque deviation of the SMA-TENG element; This represents the actual regional torque of the SMA-TENG element; This represents the ideal moment in the region corresponding to the SMA-TENG element.

[0057] The total torque deviation is obtained based on the actual regional torque of each SMA-TENG element and the regional torque deviation of each SMA-TENG element.

[0058] In this embodiment, the total torque deviation is obtained using the following formula: ; in, Regional torque weights (can be set as needed); Z1 represents the regional torque deviation of the SMA-TENG element; Z3 represents the number of SMA-TENG elements. For example, Z3=10 means that a total of 10 SMA-TENG elements are adjusted.

[0059] In this embodiment, the step of calculating the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity includes: The total torque deviation is obtained based on the regional torque deviation of each SMA-TENG unit, and the total PID control quantity for each SMA-TENG unit is generated.

[0060] In this embodiment, the PID parameters can be set as follows: proportional coefficient K P =1.2, Integral coefficient K I =0.8, differential coefficient K D =0.3, adapted to SMA response speed).

[0061] In this embodiment, generating the PWM drive signal based on the PID control quantity includes: The target phase transition temperature of each SMA-TENG unit is obtained based on the regional torque deviation of each SMA-TENG unit. For example, you can set several deviation levels and target temperatures, such as slight deviation. For conditions such as mild kyphosis (<0.5 N·m), a target phase transition temperature can be set, for example, It is 58 degrees; or, If the deviation is greater than 1.0 N·m, it is considered a severe deviation. For example, if it is a severe forward tilt, then set... It is 68 degrees.

[0062] The target contractile force and target contractile amount of each SMA-TENG unit are obtained based on the ideal torque of the region of each SMA-TENG unit and the target phase transition temperature of each SMA-TENG unit. In this embodiment, the target contraction force is calculated using the following formula: ;in, The target contractile force for each SMA-TENG unit; The basic target contractile force; This is the total control quantity for the PID controller; This is the upper limit of the PID control quantity; In this embodiment, the basic target contraction force is calculated using the following formula: ; In this embodiment, the target shrinkage amount of each SMA-TENG unit is calculated using the following formula: ; in, The target shrinkage amount for the SMA-TENG unit; The target strain for the SMA-TENG element; for The target strain of the SMA-TENG element is calculated using the following formula: ; Wherein, is the target contractile force for each SMA-TENG unit; Let be the cross-sectional area of ​​the SMA; Real-time elastic modulus of each SMA-TENG element; The corrected current for each SMA-TENG unit is obtained based on the target contraction force and the target contraction amount of each SMA-TENG unit. In this embodiment, the corrected current of each SMA-TENG unit is obtained by the following method: The formula for calculating the initial heating current is as follows: ; in, The initial heating current is corrected based on deformation feedback to obtain the correction current. Specifically, if the real-time deformation signal of the SMA-TENG unit... <0.8 (Insufficient deformation) then correct the current. = ·1.2\); If (0.8 ≤ ≤1.2 (deformation matching), then = );like >1.2 (Excessive deformation) = 0.8.

[0063] The PWM parameters for each SMA-TENG unit are generated based on the corrected current of each SMA-TENG unit.

[0064] In this embodiment, generating the PWM parameters for each SMA-TENG unit based on the corrected current of each SMA-TENG unit includes: The real-time resistance of the SMA-TENG unit is calculated using the following formula: ; in, The real-time resistance of the SMA-TENG unit; This refers to the real-time operating voltage in the SMA-TENG unit. This refers to the real-time operating current in the SMA-TENG unit. The formula for calculating the PWM duty cycle is as follows: ; in, This refers to the PWM duty cycle. To correct the current; Preset PWM peak current; limit duty cycle range: 0 <D≤0.9。

[0065] Understandably, the method described above for obtaining only one duty cycle should be repeated in actual use until the ideal triboelectric signal is obtained or other stopping conditions are met.

[0066] The intelligent attitude correction control method based on triboelectric-shape memory alloy in this application has the following advantages: By using SMA real-time temperature-corrected elastic modulus and combined with regional force vector angle compensation, the signal distortion problem caused by temperature drift and force direction deviation in the original solution was solved, improving the mapping accuracy between triboelectric signals and body deviation by more than 30%, and ensuring that deviation perception is not affected by ambient temperature or human activity.

[0067] Signals are collected and processed separately for each SMA-TENG unit, rather than being perceived as a whole, so as to achieve precise local deviation positioning and avoid the problem of blurred correction target caused by signal mixing in multiple regions.

[0068] On the one hand, by dynamically correcting the target contraction force, the correction force is directly linked to the deviation intensity. The greater the correction force, the closer the contraction force is to the upper limit, thus matching severe deviations. On the other hand, by dynamically adjusting the torque error dead zone, the larger the deviation, the smaller the dead zone, and the higher the correction accuracy.

[0069] The control quantity is calculated separately for the torque deviation of each region, rather than being distributed evenly after overall calculation. This ensures that regions with severe deviations (such as scoliosis) receive targeted drive, avoiding the contradiction of insufficient correction of major deviations and overcorrection of minor deviations caused by average force application.

[0070] Maintaining simultaneous activation of multiple areas with varying intensities aligns with the biomechanical logic of coordinated stability of the human core muscle groups, while avoiding temporary postural imbalances caused by sequential activation, thus balancing correction efficiency with user comfort.

[0071] By integrating phase change temperature demand, mechanical shrinkage target, and deformation feedback correction, the target temperature is first determined based on the deviation level, then the heat demand and initial current are calculated, and finally the duty cycle is corrected through the TENG deformation signal to ensure that the SMA heating power is precisely matched with the phase change demand.

[0072] This invention provides a shape memory alloy-triboelectric drive device (SMA-TENG) that integrates sensing and actuation by reusing the SMA structure. Through innovative core-shell structure and synergistic design of multifunctional materials, it achieves deep integration of sensing and actuation, and solves the problem of Joule heating affecting sensing performance during SMA actuation. Subsequently, a multi-channel control circuit and signal processing module are designed to process the electrical signals converted from small-amplitude attitude changes and transmit them to the control unit. The control unit generates local corrective forces on areas of attitude deviation and provides real-time feedback on the correction effect until the attitude is restored, automatically stopping the actuation. This saves energy and avoids excessive intervention.

[0073] To verify the above conclusions, this application conducted verification experiments and described some details and parameters in this embodiment to teach other skilled workers in the art to use the present invention in different ways, means, or processes: The SMA spring used in SMA-TENG1 is made of nickel-titanium alloy with a diameter of 6mm; the prepared SMA-TENG1 has a diameter of 8±0.5mm and a length of 15cm; the silicone is Ecoflex-10; the prepared 13FEP friction layer is a 100μm thick perfluoroethylene-propylene copolymer; the circuit module is Ardiuno uno. Experimental data are as follows: Figure 3 As shown, this signal demonstrates that different magnitudes of feedback signals are generated under different magnitudes of force excitation.

[0074] This application has the following advantages: (1) Low cost SMA-TENG is made from materials such as shape memory alloy springs, silicone, aerogel, FEP film, conductive ink, and latex tubing, using a special method, resulting in low cost.

[0075] (2) The system structure is simple. SMA-TENG reuses the SMA structure, making it both a sensing unit and a driving module. The back-end wiring only requires three wires, the required materials are simple, and it is prepared by a unique method without the need for complex structures and chemical preparations. The construction of the back-end system is also very convenient.

[0076] (3) Sensor self-driving Most sensors require an external battery for power, but by utilizing the triboelectric properties, sensors can be self-driven and do not require an external power source.

[0077] (4) High sensor sensitivity Most shape memory alloy sensors use the principle of resistance sensing, which is easily affected by factors such as temperature and has low sensitivity. However, high-sensitivity sensing can be achieved by utilizing triboelectric properties.

[0078] (5) Heat management Traditional shape memory alloy self-sensing sensors have not addressed the impact of temperature on sensing performance during the actuation process. By designing an aerogel-modified silicone composite layer, heat management of the SMA-TENG was achieved. This effectively isolates heat without affecting its actuation performance, significantly reducing the impact of Joule heating on sensing performance.

[0079] (6) Real-time monitoring and local intelligent control Most sensors cannot transmit signals in real time, but can only upload a segment of the signal. However, SMA-TENG can provide real-time feedback of external excitation signals and output the recognition results. The signal is then input to the circuit module for PWM control and driving, enabling multi-channel local correction. When the signal indicates that the posture has been restored, the system automatically stops driving to avoid overcorrection.

[0080] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A triboelectric-shape memory alloy-based integrated smart posture correction system driven by a sense, characterized in that, The frictional electricity-shape memory alloy-based integrated smart posture correction system comprises: a plurality of SMA-TENG units; a circuit module connected with each SMA-TENG unit, for providing driving current for one or more of the SMA-TENG units. 2.The triboelectric-shape memory alloy based inducible integrated smart posture correction system according to claim 1, wherein, The SMA-TENG unit comprises: a core layer (11); an aerogel modified silica gel composite layer (12) wrapped outside the core layer (11); a FEP friction layer (13) wrapped outside the aerogel modified silica gel composite layer (12); a conductive ink layer (14) wrapped outside the FEP friction layer (13); a latex tube shell (15) wrapped outside the conductive ink layer (14). 3.The triboelectric-shape memory alloy based inducible integrated smart posture correction system according to claim 2, wherein, The core layer (11) is made of a nickel-titanium alloy SMA spring.

4. A method for fabricating the SMA-TENG unit according to any one of claims 1 to 3, characterized in that, The SMA-TENG unit manufacturing method comprises: manufacturing a core layer (11) made of a nickel-titanium alloy SMA spring as a dual-function carrier for driving and sensing, and the nickel-titanium alloy SMA spring is pretreated by a plasma cleaning machine; manufacturing an aerogel modified silica gel composite inner layer solution, the aerogel modified silica gel composite inner layer is prepared by a sol-gel method, aerogel powder is dissolved in a DMAC solution at a mass ratio of 1:5, the aerogel modified silica gel composite inner layer solution is applied to the outside of the core layer 11, and is placed in a fume hood for air drying, repeated for 3 times, thereby obtaining a first composite; manufacturing an aerogel modified silica gel composite outer layer, aerogel is mixed with silica gel at a mass ratio of 3:10, the aerogel modified silica gel composite outer layer is applied to the outside of the first composite and is then solidified, thereby obtaining a second composite; the aerogel modified silica gel composite inner layer and the aerogel modified silica gel composite outer layer form an aerogel modified silica gel composite layer (12); manufacturing a conductive ink layer (14), the conductive ink is uniformly applied to the FEP friction layer (13), and is solidified at room temperature for 72 hours, thereby obtaining the FEP friction layer (13) coated with the conductive ink layer (14); the FEP friction layer (13) coated with the conductive ink layer (14) is wound around the surface of the second composite, thereby obtaining a third composite; a latex tube shell (15) is wrapped outside the third composite, thereby obtaining the SMA-TENG unit.

5. An SMA-TENG unit, characterized in that, The SMA-TENG unit is manufactured by the SMA-TENG unit manufacturing method of claim 4.

6. A triboelectric shape memory alloy-based integrated smart posture correction control method, applied to the triboelectric shape memory alloy-based integrated smart posture correction system according to any one of claims 1 to 3, characterized in that, The frictional electricity-shape memory alloy-based integrated smart posture correction control method comprises: each SMA-TENG unit acquires a frictional electricity signal generated by deformation; the circuit module acquires the frictional electricity signal; the circuit module generates driving current for driving each SMA-TENG unit according to the frictional electricity signal. 7.The triboelectric- shape memory alloy based inducible integrated posture correction control method according to claim 6, wherein, The circuit module generates a driving current for driving each SMA-TENG unit according to the triboelectric signal, and the method comprises the following steps: The original triboelectric signal is input into a signal amplifier for amplitude enhancement, and then a low-pass filter is used to filter out high-frequency interference noise, so as to complete signal conditioning and obtain a stable triboelectric signal; The stable triboelectric signal is calculated based on a PID control algorithm to obtain a PID control quantity; A PWM driving signal is generated according to the PID control quantity; The PWM driving signal is sent to each SMA-TENG unit that needs to receive the PWM driving signal, so that the SMA-TENG unit receiving the PWM driving signal is heated and undergoes phase change shrinkage. 8.The triboelectric- shape memory alloy based inducible integrated posture correction control method according to claim 7, wherein, Before the step of calculating the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity, the circuit module generates a driving current for driving each SMA-TENG unit according to the triboelectric signal, and the method further comprises the following steps: Real-time working voltage and current in each SMA-TENG unit are obtained; A preset force vector angle of each SMA-TENG unit is obtained respectively; Basic parameter information of the SMA-TENG unit is obtained; A unit force arm of each SMA-TENG unit is obtained respectively; Real-time temperature of each SMA-TENG unit is obtained according to the real-time working voltage and current of each SMA-TENG unit and the basic parameter information of the SMA-TENG unit; Real-time elastic modulus of each SMA-TENG unit is obtained according to the real-time temperature of the SMA-TENG unit; A compensated triboelectric signal of each SMA-TENG unit is obtained according to the real-time temperature of the SMA-TENG unit and the real-time elastic modulus of the SMA-TENG unit, and the compensated triboelectric signal is marked with a region force arm identifier; A region ideal correction force corresponding to each SMA-TENG unit is obtained; A region ideal moment of each SMA-TENG unit and an ideal reference signal are obtained according to the region ideal correction force corresponding to each SMA-TENG unit; A region actual moment of each SMA-TENG unit and a region moment deviation of each SMA-TENG unit are obtained according to the region ideal moment of each SMA-TENG unit and the region ideal correction force of each SMA-TENG unit; A total moment deviation is obtained according to the region actual moment of each SMA-TENG unit and the region moment deviation of each SMA-TENG unit. 9.The triboelectric- shape memory alloy based inducible integrated posture correction control method according to claim 8, wherein, The step of calculating the stable triboelectric signal based on the PID control algorithm to obtain the PID control quantity comprises the following steps: A PID total control quantity of each SMA-TENG unit is obtained according to the total moment deviation of each SMA-TENG unit. 10.The triboelectric- shape memory alloy based smart posture correction control method of claim 9, wherein, The step of generating the PWM driving signal according to the PID control quantity comprises the following steps: A target phase change temperature of each SMA-TENG unit is obtained according to the region moment deviation of each SMA-TENG unit. According to the area ideal moment of each SMA-TENG unit, the target phase change temperature of the SMA-TENG unit, the target contraction force of each SMA-TENG unit is obtained, and the target contraction amount of each SMA-TENG unit is obtained; According to the target contraction force of each SMA-TENG unit and the target contraction amount of each SMA-TENG unit, the corrected current of each SMA-TENG unit is obtained; According to the corrected current of each SMA-TENG unit, the PWM parameter of each SMA-TENG unit is generated.

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