Multi-modal smart interactive glove and multi-source synergistic power generation coupled fabric

Abstract

The present application relates to the technical field of intelligent textiles, and discloses a multi-modal intelligent interactive glove and a multi-source collaborative power generation coupling fabric. The multi-modal intelligent interactive glove comprises a glove body, a power generation coupling fabric and a signal analysis module. The power generation coupling fabric comprises a wool base layer, a triboelectric fiber and a thermoelectric fiber. The triboelectric fiber is transversely woven in the space of the wool base layer. The thermoelectric fiber is longitudinally woven in the space of the triboelectric fiber. The triboelectric fiber generates an electric signal one when mechanically deformed. The thermoelectric fiber generates an electric signal two according to temperature difference. The signal analysis module analyzes the pressure according to the electric signal one and analyzes the temperature sense according to the electric signal two. The triboelectric fiber and the thermoelectric fiber are arranged, so that the glove has both thermoelectric and triboelectric functions. The triboelectric high-frequency pulse and the thermoelectric quasi-static potential signal generated in the interactive process are analyzed, so that multi-source information perception of the grabbing force of the contacted object and the temperature of the object is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent textile technology, and in particular to a multimodal intelligent interactive glove and a multi-source collaborative power generation coupling fabric. Background Technology

[0002] Currently, flexible electronic devices show broad application prospects in the field of wearable technology. Their excellent deformation adaptability and high compatibility with the human body provide unprecedented possibilities for applications such as health monitoring, human-computer interaction, intelligent medical care, and sports management. However, traditional flexible devices often still rely on rigid batteries or external wired power supplies, which severely limits their wearing comfort, overall portability, and long-term sustainability, making it difficult to meet the growing demand for passive and self-powered devices. Against this backdrop, novel energy harvesting technologies are considered one of the key paths to overcome this bottleneck. In existing technologies, such as the patent with publication number CN118203163A, entitled "Fully Shaped Multimodal 3D Smart Glove, Preparation Method and Application," it discloses the use of triboelectric nanogenerators as a power source to power external devices or as a self-driven sensor device, and can identify different hand gestures based on the voltage output of the triboelectric nanogenerator at different degrees of pressure and bending. However, existing smart interactive gloves only focus on a single energy mechanism and do not achieve multi-source information acquisition. At the same time, the single power-generating fabric used cannot meet the energy harvesting needs of static and dynamic scenarios, and the power supply stability and total energy output efficiency are limited under different usage scenarios. Summary of the Invention

[0003] To address the technical problem that existing smart interactive gloves only focus on a single energy mechanism and fail to achieve multi-source information acquisition, this invention provides a multimodal smart interactive glove and a multi-source collaborative power generation coupling fabric.

[0004] In a first aspect, this invention proposes a multimodal intelligent interactive glove, comprising: a glove body, a power-generating coupling fabric, and a signal analysis module. The power-generating coupling fabric is disposed on the gripping surface of the glove body. The power-generating coupling fabric includes: a wool base layer, triboelectric fibers, and thermoelectric fibers. The triboelectric fibers are woven laterally into the gaps of the wool base layer. The thermoelectric fibers are woven longitudinally into the gaps of the triboelectric fibers. The triboelectric fibers generate an electrical signal I upon mechanical deformation. The thermoelectric fibers generate an electrical signal II based on temperature changes. The signal analysis module is used to analyze the pressure from electrical signal I and the temperature sensation from electrical signal II.

[0005] Secondly, the present invention proposes a multi-source collaborative power generation coupling fabric, which is the power generation coupling fabric in the multimodal intelligent interactive glove in the first aspect.

[0006] Thirdly, this invention proposes a method for manufacturing a multimodal intelligent interactive glove, which is used to manufacture the multimodal intelligent interactive glove mentioned in the first aspect. The manufacturing method includes: First, triboelectric fibers and thermoelectric fibers are prepared using a wet spinning process. Next, a wool base layer is woven to a suitable size to serve as the basic carrier. The triboelectric fibers are then inserted laterally into the gaps in the wool base layer, while the thermoelectric fibers are absorbed and inserted longitudinally, thus creating a power-generating coupling fabric. This fabric is then sewn onto the gripping surface of the glove body and connected to a signal analysis module via wires, resulting in a multimodal intelligent interactive glove.

[0007] The beneficial effects of this invention are as follows: 1. This invention enables the glove to simultaneously possess thermoelectric and triboelectric functions by setting triboelectric fibers and thermoelectric fibers. By analyzing the triboelectric high-frequency pulses and thermoelectric quasi-static potential signals generated during the interaction process, it achieves multi-source information perception of the gripping force and temperature of the contact object.

[0008] 2. The power-generating coupling fabric in this invention possesses both thermoelectric (static temperature difference energy supply) and triboelectric (dynamic motion energy supply) functions. In static scenarios (such as sitting), the thermoelectric system can provide continuous micro-power output. In dynamic scenarios (such as walking or moving), the output power of the triboelectric system is increased, and the total energy output efficiency is 3-5 times higher than that of a single mechanism, solving the problem of power supply stability in different scenarios.

[0009] 3. The fabric in this invention uses a wet spinning process that is compatible with existing textile equipment. It has low raw material costs, a simple and efficient process flow, and the warp and weft weaving does not require additional composite layers or complex electrode designs. It has high industrialization feasibility and low cost.

[0010] 4. The fabric fibers of the present invention are incorporating TPU, which makes them highly elastic. The fabric can conform to human skin and adapt to complex deformations such as stretching and bending. It also has good breathability and is more comfortable to wear than existing membrane or rigid energy devices.

[0011] 5. The fabric in this invention has diverse functions. It can not only serve as an energy harvesting unit, but also realize body temperature sensing through thermoelectric temperature difference changes and realize motion posture recognition (such as step counting and motion amplitude detection) through triboelectric signal changes. It has the potential to integrate "power supply and sensing" and can be extended to fields such as health monitoring and human-computer interaction. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a structural schematic diagram of a multimodal intelligent interactive glove; Figure 2 This is a schematic diagram of the structure of the power generation coupling fabric; Figure 3 This is a schematic diagram of the fiber arrangement structure of the power generation coupling fabric; Figure 4 This is a schematic diagram of another fiber arrangement structure for the power generation coupling fabric; Figure 5 This is a curve showing the voltage change with temperature difference for a 7.5cm long thermoelectric fiber during the test. Figure 6 This is a curve showing the voltage change with temperature difference for a 9.5cm long thermoelectric fiber during the test. Figure 7 This is the open-circuit voltage curve measured by TENG; Figure 8 This is the short-circuit current curve measured by TENG; Figure 9 This is the charge curve measured by TENG; Figure 10 This is the voltage cycle curve measured by TENG; Figure 11 This is the output power curve measured by TENG; Figure 12 These are the voltage and current curves as a function of resistance, measured by TENG. Figure 13 This is the charging curve measured by TENG; Figure 14 This is a flow chart of the wet spinning process for triboelectric fibers and thermoelectric fibers.

[0014] In the diagram: glove body 1, power generation coupling fabric 2, wool base layer 21, warp 22, weft 23. Detailed Implementation

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0018] Please refer to Figure 1 This embodiment provides a multimodal smart interactive glove, comprising: a glove body 1, a power generation coupling fabric 2, and a signal analysis module (not shown in the figure). The glove body 1 can be made of plain knit or leather material. The power generation coupling fabric 2 is disposed or sewn onto the gripping surface of the glove body 1. Furthermore, since the gripping action mainly relies on the fingers and palm, the power generation coupling fabric 2 can be disposed in the fingertips and palm areas of the glove body 1.

[0019] The power-generating coupling fabric 2 is one of the design focuses of this invention. Existing power-generating fibers often cannot meet the energy harvesting needs of both static and dynamic scenarios. For example, thermoelectric materials, based on the Seebeck effect, can convert heat energy into electrical energy by utilizing the small temperature difference between the human body and the environment (usually 3-5K), possessing continuous power supply characteristics. However, the output power of a single thermoelectric system is low and greatly affected by temperature fluctuations, resulting in insufficient power supply stability in dynamic wearable scenarios. Triboelectric materials, based on the principle of triboelectric nanogenerators (TENGs), can generate charges through mechanical contact-separation during human movement, achieving high output power density. However, they rely on external mechanical stimulation, and their energy harvesting efficiency drops significantly in static or low-activity scenarios. Furthermore, some studies have attempted to fabricate composite films using two materials, but the film structure has poor flexibility, cannot be woven, and is difficult to integrate with textile fabrics. This invention addresses the shortcomings of existing technologies by integrating thermoelectric and triboelectric mechanisms through a thermoelectric-triboelectric coupling design. This constructs a multi-source collaborative energy harvesting system, achieving a synergistic mode of "continuous energy supply due to temperature difference + instantaneous energy supply during motion." Simultaneously, it ensures the weaving compatibility of functional fibers, allowing them to be fabricated using conventional knitting processes. This improves the power supply stability and overall energy output efficiency under different usage scenarios. The following is a detailed description of this power generation coupling fabric 2: like Figure 2As shown, the power generation coupling fabric 2 includes: a wool base layer 21, triboelectric fibers, and thermoelectric fibers. The wool base layer 21 can be made of ordinary wool. The wool is woven to a suitable size using a loom, serving as the base carrier of the coupling fabric. The triboelectric fibers are woven laterally into the gaps of the wool base layer 21 using a flat knitting process, serving as weft 23. The thermoelectric fibers are woven longitudinally into the gaps of the triboelectric fibers, serving as warp 22. In the power generation coupling fabric 2, the triboelectric fibers, i.e., the weft 23, are responsible for collecting triboelectric energy. A low tension is used to maintain appropriate slack within the coupling fabric, facilitating inter-fiber friction during movement. The intersections of the warp 22 and weft 23 form natural contact separation nodes, automatically triggering the triboelectric generation mechanism during mechanical deformation, thereby generating electrical signal one. The thermoelectric fibers, i.e., the warp 22, mainly undertake the collection of thermoelectric energy. A close arrangement maximizes the contact area, allowing the thermoelectric fibers to generate electrical signal two based on temperature changes. Specifically, in this embodiment, the triboelectric fibers can be composite fibers including carbon nanotubes and TPU. The thermoelectric fibers can be composite fibers including carbon nanotubes and PEDOT:PSS (a conductive polymer composite material whose full name is poly(3,4-ethylenedioxythiophene):polystyrene sulfonate). Of course, in other embodiments, the triboelectric and thermoelectric fibers are not limited to these materials. The weaving process of the power-generating coupling fabric 2 is not limited to flat knitting; circular knitting, woven weaving, etc., can also be used, and antibacterial agents, UV stabilizers, etc., can be added to achieve additional functions. In addition, when the triboelectric and thermoelectric fibers are woven in both directions, one or more triboelectric fibers are used as weft threads 23, and one or more thermoelectric fibers are used as warp threads 22. For example, as Figure 3 , Figure 4 As shown. Figure 3 In the middle, warp and weft threads are woven by interlacing a triboelectric fiber and a thermoelectric fiber 23. Figure 4 In this process, multiple triboelectric fibers are bundled together to form a weft yarn 23. Multiple thermoelectric fibers are bundled together to form a warp yarn 22, and then the warp and weft yarns 23 are woven together. Both fiber arrangement methods can achieve similar results.

[0020] In this embodiment, the signal analysis module is connected to the power-generating coupling fabric 2 via a wire to receive and analyze electrical signals 1 and 2. Specifically, the signal analysis module calculates the pressure based on the amplitude and waveform changes of electrical signal 1, and then identifies various action intentions such as "light touch," "grab," and "multi-finger pressing" based on the magnitude and location of the pressure. Simultaneously, the signal analysis module calculates the temperature sensation (i.e., determines whether the contacted object has cold / hot characteristics) based on the instantaneous changes of electrical signal 2, and then perceives and classifies the material properties of the contacted object (e.g., the coldness of metal, the warmth of fabric) based on the temperature sensation. Furthermore, during the interaction, since electrical signal 1 is a high-frequency triboelectric pulse and electrical signal 2 is a thermoelectric quasi-static potential signal, the signal analysis module can utilize the temporal domain characteristic differences of the two electrical signals to automatically identify electrical signals 1 and 2 through an algorithm. This automatically decouples the "grabbing force (pressure)" from the "object temperature (temperature sensation)," ensuring the accuracy and low latency of the interactive feedback.

[0021] The working principle of the multimodal intelligent interactive glove in this invention is as follows: When an operator wears the glove and interacts with an object, the triboelectric fibers sense the pressure pulse generated by the fingers touching the object and transmit it to the signal analysis module via wires. The signal analysis module accurately identifies the intentional actions such as "touch," "grab," and "multi-finger pressing" based on the voltage pulse amplitude and waveform changes of electrical signal one, achieving real-time capture of the grasping action. The thermoelectric fibers adhere to the operator's skin and the object, monitoring the temperature difference between the object and the operator's skin temperature in real time, generating electrical signal two which is transmitted to the signal analysis module via wires. The signal analysis module uses electrical signal two to determine whether the contacted object has cold / thermal characteristics, thereby achieving the perception and classification of the object's material properties (such as the coldness of metal and the warmth of fabric). The above interactive feedback information is modeled in real time or mapped onto a VR / AR interface using digital twin technology, and can be applied in science education or science and technology innovation experience scenarios. The interactive feedback information can also be sent to a back-end processing unit, such as a robot. By wearing this multimodal intelligent interactive glove on a robotic arm, the realistic feedback of the robotic arm grasping objects is further enhanced.

[0022] To verify the effectiveness of the multimodal smart interactive glove and the power-generating coupling fabric 2 used, relevant tests were conducted. The test process is as follows: 1. Thermoelectric fiber performance testing.

[0023] Two thermoelectric fibers, 7.5 cm and 9.5 cm in length, were taken and coated with silver paste at both ends to serve as electrodes and reduce contact resistance. The conductivity and diameter of the thermoelectric fibers were tested using a four-point probe tester. Each fiber was measured six times, and the average value was calculated. The measured resistances of the two fibers were 4.28 Ω and 4.15 Ω, respectively. The diameters were 0.81 mm and 0.93 mm, respectively. According to the formula: , In the formula, ρ is the resistivity. R For resistance, L For the length of the thermoelectric fiber, A For cross-sectional area, σ The conductivity is calculated to be 340.1 S·cm. -1 337.0 S·cm -1 Subsequently, the thermoelectric fiber was placed on a Seebeck coefficient testing instrument. A 5.5-digit digital multimeter was used to clamp the electrodes, and voltage changes were recorded in real time. Two Peltier elements were placed below the thermoelectric fiber, and the temperature difference between the two ends of the fiber was controlled in real time using a power meter. Temperature changes across the thermoelectric fiber were recorded in real time using an infrared camera, and finally calibrated using a calibration sample (nickel sheet) to record voltage values ​​at different temperatures. A curve showing voltage versus temperature difference was then plotted, and the slope of the fitted straight line was taken as the Seebeck coefficient. Figure 5 , Figure 6 As shown. The Seebeck coefficients of the thermoelectric fibers were calculated to be... , .

[0024] 2. Assembly and performance testing of triboelectric fibers.

[0025] A 63cm length of triboelectric fiber was used to prepare a triboelectric nanogenerator (TENG). First, high-temperature resistant tape was attached to one side of an acrylic sheet. Then, the triboelectric fiber was adhered to the tape in a serpentine arrangement, fixing the fiber to the acrylic sheet and forming the TENG. Simultaneously, a wire was wound around one end of the fiber. To ensure test stability, double-sided foam adhesive was attached to the other side of the acrylic sheet and adhered to the test bench. Another acrylic sheet was prepared by attaching conductive adhesive and FEP tape to one side, and double-sided foam adhesive to the other side. The two acrylic sheets were used for contact-separation triboelectric nanogenerator performance testing. A tribometer was used to record the voltage, current, and charge changes generated by the triboelectric fiber during contact friction at different frequencies, the power change under different loads at 1 Hz, the charging curves under different capacitors, and the voltage cycle over 30 minutes. The results were plotted as follows: Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 As shown. By Figure 7 , Figure 8 , Figure 9 It can be seen that this TENG has high output performance; under 3Hz test conditions, the open-circuit voltage V ocIt can reach around 21V ( Figure 7 ), short-circuit current I sc Reaching 0.33µA ( Figure 8 ), charge Q sc 8nC ( Figure 9 It can be seen that the magnitudes of voltage, current, and charge are affected by frequency, increasing with increasing frequency. This is because after a sufficient number of contact-separation processes, due to the action of external force, the effective contact area slightly increases, and the open-circuit voltage V... oc and charge Q sc The short-circuit current I is independent of the frequency of contact separation. sc The voltage increased from 0.15 µA at 0.5 Hz to 0.33 µA at 3 Hz because the electron transfer rate increased with increasing frequency. Furthermore, to verify the stability and durability of the triboelectric fiber, a 50,000-cycle test was conducted. Figure 10 As shown, the results indicate that the output performance decays very slowly. Furthermore, calculating the output power of the TENG is crucial for practical applications; therefore, a series of resistors (10...) were connected in the circuit. 3 Ω-10 9 The power of the TENG was calculated using Ω. Figure 11 , Figure 12 As shown, the dependence of power on load resistance and the dependence of voltage, current, and load resistance are respectively displayed, with a measurement frequency of 1Hz. The output power of the TENG first increases and then decreases with increasing external resistance. Under this condition, when the external load is 80MΩ, the maximum power reaches 3.229µW, with corresponding voltage and current of 16.073V and 200.913nA, respectively. Simultaneously, with increasing external resistance, the instantaneous output current of the TENG decreases while the output voltage increases, which is a typical ohmic loss phenomenon. To verify the high energy harvesting efficiency and high power output of the fabricated TENG, as... Figure 13 As shown, it displays the voltage variation curves of TENG charging different capacitors (1µF, 2.2µF, 3.3µF, 4.7µF, 10µF, 22µF, 33µF, 47µF), as well as the relationship between capacitor voltage and charging time. The larger the capacitor, the slower the charging speed, but the stronger the output load capacity. The 33µF capacitor used can be charged to 1.00V in 108.495 s.

[0026] The performance tests above show that both thermoelectric fibers and triboelectric fibers can generate corresponding electrical signals, which can change with the influence of the external environment. This can effectively provide sensing information for multimodal intelligent interactive gloves, enabling real-time capture of grasping actions and perception and classification of the material properties of contacted objects.

[0027] In another embodiment, a multi-source collaborative power generation coupling fabric 2 is also proposed, which is the power generation coupling fabric 2 in the multimodal smart interactive glove in the above embodiment.

[0028] In another embodiment, a method for manufacturing a multimodal intelligent interactive glove is also proposed, which is used to manufacture the multimodal intelligent interactive glove described in the above embodiment. Addressing the problems of insufficient elasticity (breaking elongation is typically below 50%), poor weaving performance (easily breaks during weaving), and inability to adapt to complex human body deformations (such as stretching, bending, and torsion) inherent in traditional functional fibers, this manufacturing method includes: First, triboelectric fibers and thermoelectric fibers are prepared using a wet spinning process. Next, a wool base layer 21 is woven to a suitable size to serve as the basic carrier. The triboelectric fibers are then inserted laterally into the gaps in the wool base layer 21, while the thermoelectric fibers are absorbed and inserted longitudinally, resulting in a power-generating coupling fabric 2. This power-generating coupling fabric 2 is then sewn onto the gripping surface of the glove body 1 and connected to a signal analysis module via wires to obtain a multimodal intelligent interactive glove.

[0029] Please refer to Figure 14 The wet spinning process for triboelectric fibers includes: Preparation of the triboelectric fiber spinning solution: 800–1000 mg of carbon nanotubes (CNTs) were dissolved in 50 mL of N,N-dimethylformamide (DMF) and ultrasonically stirred to achieve initial mixing and uniform dispersion of the carbon nanotubes. 0.8–2 g of thermoplastic polyurethane (TPU) was added to this suspension to give the triboelectric fibers higher elasticity. The solution was stirred with a glass rod for 10–30 min, followed by ultrasonication in a water bath and magnetic stirring to eliminate air bubbles, resulting in a homogeneous spinning solution.

[0030] Coagulation bath preparation: Prepare an aqueous solution of NH4Cl as the coagulation bath. The concentration of NH4Cl is controlled at 18-22 wt%. Too high a concentration will easily lead to a rough surface of the triboelectric fiber, while too low a concentration will result in a slow forming speed.

[0031] Wet spinning: Take 10 mL of spinning solution and perform wet spinning in the coagulation bath. The extrusion rate should not be too fast, and should be controlled at 0.10 to 0.18 mL / min to ensure that the triboelectric fibers are stretched evenly during the coagulation process and avoid internal stress concentration.

[0032] Post-processing: The solidified triboelectric fibers were soaked in deionized water for 12 hours to remove residual DMF and NH4Cl, and then dried in a vacuum drying oven to obtain triboelectric fibers with uniform diameter and high elasticity.

[0033] Refer again Figure 14 The wet spinning process for thermoelectric fibers includes: Preparation of the thermoelectric fiber spinning solution: Dissolve 5-8 g of carbon nanotubes in 20-25 mL of PEDOT:PSS aqueous solution, stir to uniformly disperse the carbon nanotubes in the PEDOT:PSS aqueous solution, and sonicate in an ultrasonic water bath for 10-30 min. Then, magnetically stir and vibrate for 2-4 h.

[0034] Preparation of coagulation bath: Prepare a coagulation bath of 1-3 mol / L H2SO4. Too high a concentration will easily cause fiber embrittlement and breakage, while too low a concentration will result in incomplete solvent evaporation and insufficient fiber formation.

[0035] Wet spinning: Take 10 mL of spinning solution and perform wet spinning in the above coagulation bath. The extrusion rate is controlled at 0.10 to 0.18 mL / min, the coagulation bath temperature is maintained at 25±3℃, and the take-up speed is matched with the extrusion rate (linear speed ratio 1.1 to 1.3:1) to ensure that the fiber is uniformly formed during the coagulation process and to avoid internal stress caused by uneven stretching.

[0036] Post-processing: The thermoelectric fibers obtained by wet spinning are soaked in deionized water for 10-14 hours to remove residual H2SO4 and unreacted monomers, and then dried in a vacuum drying oven at 45-55℃ for 4-6 hours to obtain thermoelectric fibers with uniform diameter and stable thermoelectric properties.

[0037] It should be noted that the conductive filler in the aforementioned functional fibers is not limited to multi-walled carbon nanotubes; single-walled carbon nanotubes, graphene nanosheets, carbon nanofibers, or metal nanowires can also be used. After replacement, the ultrasonic dispersion parameters and interfacial bonding properties need to be optimized. During the wet spinning process, parameters such as the extrusion rate, the NH4Cl concentration in the coagulation bath, and the take-up roller speed can be adjusted within a certain range to suit different performance requirements. Ultimately, through optimization of the wet spinning process and modification of the polymer matrix, the above process produces highly elastic functional fibers that conform to human skin, adapt to complex deformations such as stretching and bending, and have good breathability, offering superior wearing comfort compared to existing membrane-like or rigid energy devices. Simultaneously, the weaving compatibility of the functional fibers is ensured, allowing them to be made into fabrics using conventional knitting processes.

[0038] In one specific example, a method for preparing triboelectric fibers by wet spinning includes: measuring and mixing 800 mg of carbon nanotubes (CNTs) with 50 mL of N,N-dimethylformamide (DMF). The CNT content is 16 mg / mL. -1The mixture was initially mixed by ultrasonic stirring for 10 min and magnetic stirring for 10 min. Then, 1 g of TPU was added to the mixture, stirred with a glass rod for 15 min, ultrasonicated in a water bath for 30 min, and magnetically stirred for 1 h. In a separate beaker, 20 g of NH4Cl and 100 mL of deionized water were added and stirred thoroughly (10 min) to prepare an NH4Cl (20 wt%) aqueous solution coagulation bath. 10 mL of spinning solution was taken and wet-spun in the coagulation bath using a wet spinning fiber processing and collection device. The formed fibers were collected onto a take-up roller. The spinning nozzle was 16G, the extrusion rate was 0.16 mL / min, the take-up roller speed was 11 RPM, and the reciprocating speed was 100 mm / min. The collected triboelectric fibers were soaked in deionized water for 12 h and dried for 24 h to obtain triboelectric fibers.

[0039] In another specific example, the method for preparing thermoelectric fibers by wet spinning includes: dissolving 5g of carbon nanotubes in 25mL of PEDOT:PSS aqueous solution, initially dispersing the carbon nanotubes by mechanical stirring (400rpm, 15min), and then sonicating in a water bath using an ultrasonic instrument (50℃, 30min). Subsequently, the solution is placed on a magnetic stirrer and agitated at 300rpm for 4h to obtain the spinning solution. A 3mol / L H2SO4 coagulation bath is prepared. 10mL of the spinning solution is taken and wet-spun in the coagulation bath using a wet spinning fiber processing and collection device. A 16G spinning nozzle is used, with an extrusion rate of 0.20 mL / min, and the take-up speed is matched to the extrusion rate (linear speed ratio 1.3:1). The thermoelectric fibers obtained by wet spinning are soaked in deionized water for 24h, and then dried in a vacuum drying oven at 50℃ for 4h to obtain thermoelectric fibers with uniform diameter and stable thermoelectric properties.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A multimodal intelligent interactive glove, characterized in that, It includes: Glove body (1); A power-generating coupling fabric (2) is disposed on the gripping surface of the glove body (1); The power generation coupling fabric (2) includes: a wool base layer (21), triboelectric fibers, and thermoelectric fibers; wherein, the triboelectric fibers are woven laterally into the gaps of the wool base layer (21); the thermoelectric fibers are woven longitudinally into the gaps of the triboelectric fibers; the triboelectric fibers generate an electrical signal one when mechanically deformed; the thermoelectric fibers generate an electrical signal two according to the temperature difference. The signal analysis module is used to analyze electrical signal one to obtain pressure and electrical signal two to obtain temperature.

2. The multimodal intelligent interactive glove according to claim 1, characterized in that, The intersection of the triboelectric fibers and thermoelectric fibers forms a contact separation node; during mechanical deformation, the triboelectric fibers generate an electrical signal by friction at the contact separation node.

3. The multimodal intelligent interactive glove according to claim 1, characterized in that, When triboelectric fibers and thermoelectric fibers are woven in both directions, one or more triboelectric fibers are used as weft (23), and one or more thermoelectric fibers are used as warp (22).

4. The multimodal intelligent interactive glove according to claim 1, characterized in that, In the power generation coupling fabric (2), the triboelectric fibers are set in a relaxed state on the wool base layer (21); the thermoelectric fibers are set in a tight state on the triboelectric fibers.

5. The multimodal intelligent interactive glove according to claim 1, characterized in that, The triboelectric fiber is a composite fiber comprising carbon nanotubes and TPU; the thermoelectric fiber is a composite fiber comprising carbon nanotubes and PEDOT:PSS.

6. The multimodal intelligent interactive glove according to claim 1, characterized in that, The power-generating coupling fabric (2) is disposed in the fingertips and palm areas of the glove body (1).

7. The multimodal intelligent interactive glove according to claim 1, characterized in that, The signal analysis module is also used to identify the intention of "touch", "grab" and "multi-finger press" actions based on pressure, and to identify the material properties of the contact object based on perception.

8. A multi-source synergistic power generation coupling fabric, characterized in that, It is the power generation coupling fabric (2) in the multimodal smart interactive glove as described in any one of claims 1 to 7.

9. A method for manufacturing a multimodal intelligent interactive glove, characterized in that, It is used to manufacture the multimodal smart interactive glove as described in any one of claims 1 to 7; the manufacturing method includes: First, triboelectric fibers and thermoelectric fibers are prepared by wet spinning process; then, the wool base layer (21) is woven to a suitable size as a base carrier; the triboelectric fibers are inserted laterally into the gaps of the wool base layer (21) and the thermoelectricity is absorbed into the triboelectric fibers longitudinally to obtain the power generation coupling fabric (2). The power generation coupling fabric (2) is sewn onto the gripping surface of the glove body (1) and connected to the signal analysis module through wires to obtain a multimodal intelligent interactive glove.

10. The method for manufacturing the multimodal intelligent interactive glove according to claim 9, characterized in that, The wet spinning process for triboelectric fibers includes: First, dissolve 800-1000 mg of carbon nanotubes in 50 ml of N,N dimethylformamide and mix well. Then add 0.8-2 g of TPU and stir evenly to obtain the spinning solution. Prepare an 18-22 wt% NH4Cl aqueous solution as a coagulation bath; take 10 ml of spinning solution and perform wet spinning in the coagulation bath; control the extrusion rate at 0.10-0.18 mL / min; soak the coagulated fiber in deionized water for 12 h and then dry to obtain triboelectric fiber; And / or, the wet spinning process for thermoelectric fibers includes: 5–8 g of carbon nanotubes were dissolved in 20–25 ml of PEDOT:PSS aqueous solution and mixed evenly to obtain the spinning solution. Prepare a 1-3 mol / L H2SO4 coagulation bath; take 10 ml of spinning solution and perform wet spinning in the coagulation bath; control the extrusion rate at 0.10-0.18 mL / min; soak the coagulated fiber in deionized water for 10-14 h and then dry to obtain thermoelectric fiber.

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