Textile sensor system for multidimensional state determination based on geometrically coupled electrical and electromagnetic effects in yarn structures

Abstract

Textile sensor system comprising a deformable, knitted or woven mesh (10), wherein the mesh has at least one sensor yarn with a core thread (11), in particular an elastic core, preferably an elastomeric anchor, an electrically conductive winding thread (12) and a magnetically and / or inductively effective winding thread (13), characterized in that mechanical actions on the mesh simultaneously cause a change in an electrical state, in particular the resistance, and cause a change in an electromagnetic field state in the textile system, wherein these changes are structurally determined by geometric structural parameters of the thread arrangement and are physically coupled, such that the electrical and electromagnetic state changes necessarily occur together and are based on the same geometric change in the yarn structure.

Description

Technical field

[0001] The invention relates to intelligent textile systems, in particular a textile sensor system for detecting mechanical impacts and converting these impacts into coupled electrical and electromagnetic states, especially with inductive signal changes, and their further processing with feedback. The sensor system comprises stretchable, programmable yarn structures for detecting tactile impacts, wherein the mechanical impacts are converted into physically coupled electrical and electromagnetic states via geometric structural changes and processed by means of preferably decentralized processing units. State of the art

[0002] Textile sensor structures are known from the prior art in which conductive or functional threads are used to detect pressure, strain, or touch. Capacitive, resistive, or camera-based detection systems are also known.

[0003] However, these systems have limitations, in particular: • lack of simultaneous and coupled detection of different physical states, • lack of integration of electromagnetic field states into a common signal structure, • One-sided or independent signal processing without structural coupling, • limited spatial and structural resolution in flexible textile systems, • Detect changes in electrical resistance (resistive), but without a geometrically determined coupling with other physical effects within a yarn structure, • utilize capacitive effects, but without a common coupling to other signal states realized within the textile structure, • or use inductive elements in textiles, whereby these effects are typically captured in isolation or functionally separately and are not designed as physically coupled changes of state within a common yarn structure.

[0004] However, these systems typically only capture one physical effect or process several effects independently of each other, without a structurally induced, geometrically coupled interaction within a yarn structure.

[0005] A geometrically coupled change of several electrical and electromagnetic properties within a yarn is not sufficiently disclosed in the prior art. Object of the invention

[0006] The object of the invention is to provide a textile sensor system in which mechanical deformation of a mesh structure simultaneously or temporally correlated physically coupled changes in several electrical and electromagnetic properties via geometric structural changes, in particular coupled changes in electrical resistance and inductance, so that a multidimensional, differentiated state determination can be derived from a single mechanical action. The coupling of the physical effects occurs structurally within the yarn and mesh structure.

[0007] In contrast to the prior art, which either isolates individual physical effects or processes multiple effects independently, the present invention is based on a geometrically and structurally determined interaction of electrical and electromagnetic signal changes within a textile yarn structure. This enables the simultaneous and interdependent detection of mechanical impacts, thereby achieving an expanded, multidimensional determination of the state of mechanical impacts.

[0008] The aim is to achieve, in particular, a physically coupled interaction within a common mesh structure that goes beyond the mere parallel or independent detection of individual effects and realizes a structure-related interaction of these effects. The invention relates in particular to a textile sensory thread system for detecting and processing multidimensional changes of mechanical and electromagnetic states. The invention further relates to a textile sensor system with coupled resistive-inductive signal generation through mechanical deformation of an elastic yarn, which is wrapped once or multiple times with synthetic, metal, mineral, and / or natural fibers and exhibits magnetic properties at least in certain sections.

[0009] The further object of the invention is to provide a textile system that: • Mechanical impacts are detected in a locally differentiated manner, • simultaneously generates electrical and electromagnetic state changes, • subjects these states to an evaluation, • and enables adaptive feedback. Description of the invention

[0010] The task is solved by a textile sensor system in accordance with the following protection claims.

[0011] The system comprises a deformable, knitted or crocheted mesh (10) in which at least one functional sensor yarn is integrated, wherein the sensor yarn is configured to generate physically coupled electrical and electromagnetic state changes.

[0012] These sensor yarns have the following characteristics: • a core thread, in particular an elastic core, preferably an elastic anchor (11), • at least one electrically conductive winding thread (12), • at least one magnetically and / or inductively effective winding thread (13).

[0013] The electrically conductive and / or electromagnetically active elements can consist of various materials, in particular metals, metallic compounds, inorganic or ceramic materials, silicon-based materials, and / or oxide materials, with aluminum, copper, silver, gold, zinc, titanium, and / or zinc oxide being particularly suitable. The choice of material depends primarily on electrical, mechanical, corrosive, economic, sensory, and / or biocompatibility requirements.

[0014] The functional materials can also be designed for biocompatible applications, in particular for the detection or transmission of physiological signals or for application on or in contact with biological tissue.

[0015] The fiber or yarn structure can also be designed as a hollow fiber or a structure containing cavities and serve to absorb, store or transport functional materials.

[0016] The aforementioned components are arranged in such a way that mechanical deformations of the yarn structure cause geometrically induced changes in the electrical and electromagnetic properties.

[0017] The winding threads are preferably arranged in a spiral shape and preferably in opposite directions around the core thread, in particular an elastic anchor, so that in the event of mechanical deformation there is a change in the winding spacing and the field coupling.

[0018] The yarn structure comprises at least one electrically conductive thread for detecting resistive changes and at least one further thread with electromagnetic, in particular inductive, properties.

[0019] Mechanical deformation of the yarn structure, in particular changes in winding spacing, winding angle and spatial yarn position, produce geometric changes.

[0020] These geometric changes cause a simultaneously or temporally correlated physically coupled change in several electrical and electromagnetic properties, in particular the electrical resistance and inductance of the yarn structure.

[0021] The effects are coupled within the common yarn structure in such a way that a single mechanical action generates a multidimensional electrical signal, enabling a multidimensional differentiated determination of the state.

[0022] The generated signals can be transferred to an electronic evaluation unit for further processing, whereby in particular a combination of the resistive and inductive signal components is used for improved detection and differentiation of mechanical states.

[0023] In another embodiment, the textile sensor system has a multi-scale, hierarchical structure in which sensor nodes and guide paths are arranged at different length scales.

[0024] The arrangement of the sensor nodes and / or guide structures can exhibit self-similar or quasi-self-similar patterns, in which structural properties are repeated across multiple scales.

[0025] In particular, the spatial distribution of the sensor nodes and / or guide paths may be based on nonlinear distribution patterns in which distances, densities or links are not uniform but are organized according to recursive or growth-like principles.

[0026] The ratios of successive structural parameters, especially distances or node densities, can follow a converging relationship.

[0027] Such an arrangement allows for improved signal distribution, sensitivity and robustness against local disturbances, as local state changes are detected and processed at multiple scale levels. Detailed description of the invention

[0028] The textile sensor system (10) is designed as a mesh structure and forms a multitude of sensor nodes (14) which are connected to each other via guide paths (15) and form locally defined interaction zones (16).

[0029] In the event of mechanical stress on the textile, particularly as a result of: • Touch (41), • Print (44), • Stretch (45), • or micro-movements, The following occur simultaneously and in conjunction: • a change in an electrical state, in particular in electrical resistance and / or the capacity (46), • as well as to a correlated change in a local electromagnetic field state (47).

[0030] These changes in state are detected and processed by an evaluation unit (20) and converted into a structured feedback signal (53).

[0031] The feedback occurs in particular in the form of visual (31), acoustic (32) or tactile (33) signals, whereby the signal changes are determined by geometric structural parameters of the thread arrangement and occur in a coupled manner.

[0032] The system thus forms a closed feedback loop between user interaction (40), the textile system (10), processing unit (20) and feedback unit (30).

[0033] The textile system forms a two-level interaction plane, consisting of a local interaction zone and a global structural state matrix, whereby states can dynamically switch between active and passive roles.

[0034] In another embodiment, the textile sensor system is designed to be in contact with biological tissue and to detect electrical, mechanical and / or electromagnetic changes in state, in particular for deriving physiological signals or for interaction with biological systems.

[0035] The application can be particularly useful in the area of ​​structures close to the body or head, for example in the form of wearable textile arrangements.

[0036] In a further embodiment, the textile structure is multilayered, wherein the sensor nodes (14) within a plane form a planar network structure via guide paths (15) and are coupled between several planes via electrically and / or electromagnetically effective, in particular inductive or coil-like structural elements, so that a three-dimensional, spatially networked state structure is created.

[0037] The functional elements can be designed in the form of wire-like structural elements integrated into the textile yarn, mesh, and / or layer structure. These wire-like structural elements can be designed with a geometric expansion reserve, particularly in the form of arc-, wave-, loop-, helical, coil-, or serpentine-shaped guides, so that mechanical deformations, strains, or relative movements of the textile structure can be accommodated without the wire-like structural element itself needing to be correspondingly elastic.

[0038] In another embodiment, the wire-shaped structural elements are arranged with mechanical slippage, clearance or relative mobility within the yarn, mesh and / or layer structure, so that changes in the state of the textile structure due to shape changes, rearrangements and / or movement reserves of the wire-shaped structural element can be accommodated.

[0039] In a further embodiment, vertically extending, wire-shaped, helical, and / or coil-like structural elements are arranged between several textile layers, coupling the layers mechanically, electrically, and / or electromagnetically. These structural elements can simultaneously serve to detect changes in distance, pressure, deformation, approach, and / or relative motion between the layers, thus enabling three-dimensional, spatially networked state determination within the textile structure.

[0040] In a further embodiment, the textile sensor system comprises at least one functional structural element made of a shape-memory alloy, in particular a nickel-titanium alloy. These structural elements can exhibit pseudoelastic properties, enabling them to reversibly absorb and compensate for mechanical deformations. Furthermore, these structural elements can undergo shape changes or recovery movements depending on temperature variations, thus allowing for active adaptation of the textile structure. The shape-memory structural elements can be configured, in particular, as wire-shaped, helical, and / or coil-like connecting elements within the yarn, mesh, and / or layer structure.

[0041] In another embodiment, the textile sensor system is configured not only to transmit detected changes in state, but also to process, link, and / or transform them within the textile structure itself. The sensor nodes and pathways can form a distributed, state-dependent signal processing system, enabling the textile system to function as a physically active, decentralized processing and / or computing system. This processing is achieved in particular by coupling mechanical, electrical, and / or electromagnetic states, whereby local states can be modified depending on neighboring or global states.Through the spatial and functional coupling of sensor nodes, guide paths and structural elements, complex physical state processes can arise in which superpositions, filtering effects, transformations and / or feedback system behaviors are physically realized within the textile structure. Description of the figures Fig. 1 - Schematic representation of the textile sensor system

[0042] Figure 1 shows a schematic representation of the textile sensor system with a user (40), a textile system (10), an evaluation unit (20) and a feedback unit (30), wherein mechanical actions of the user (40) on the textile system (10) are detected and processed via the evaluation unit (20) and subsequently a feedback signal (53) is generated by the feedback unit (30), which is supplied to the user (40) and forms a closed feedback loop. Fig. 2 - Yarn structure

[0043] Fig. 2A - Yarn structure in rest state shows a yarn structure with sensor yarn comprising a core thread (11), in particular an elastic core, preferably an elastomeric anchor, an electrically conductive winding thread (12) and a magnetically or inductively effective winding thread (13) in rest state, wherein the winding threads are arranged in a geometrically regular arrangement around the core thread, in particular an elastomeric anchor.

[0044] Fig. 2B - Yarn structure in the deformed state shows the yarn structure according to Fig. 2A in a state deformed by mechanical action, wherein the geometric arrangement of the winding threads (12, 13) relative to the sensor yarn with a core thread (11), in particular an elastic core, preferably an elastomer, changes and thereby causes a change in the electrical and electromagnetic properties of the yarn structure. Fig. 3 - Winding directions

[0045] Fig. 3A - Co-winding shows a yarn structure with co-wound winding threads (12, 13) around the core thread, in particular an elastomer anchor.

[0046] Fig. 3B - counter-clockwise winding shows a yarn structure with counter-clockwise wound winding threads (12, 13) around the core thread, in particular an elastomer anchor. Fig. 4 - Schematic representation of the mesh structure

[0047] Fig. 4A - simple / abstract representation shows a schematic, abstract representation of a textile mesh structure (10) with a multitude of sensor nodes (14) connected to each other via guide paths (15), the structure having not only orthogonal connections but also diagonal connections, illustrating a coupled interaction and field coupling within the structure.

[0048] Fig. 4B - detailed / technical representation with (14), (15), (10) shows a detailed representation of the mesh structure according to Fig. 4A with explicitly marked sensor nodes (14) and guide paths (15), wherein the guide paths enable electrical and / or electromagnetic coupling between the sensor nodes and form functionally different areas within the textile system (10) by their arrangement. Fig. 5 - Schematic representation of signal propagation in textiles

[0049] Figure 21 shows a schematic signal processing chain with several processing steps (21) to (25), namely acquisition, processing, analysis, classification and evaluation of the state changes generated by the textile system, wherein the processing steps include in particular at least filtering, signal amplification, digitization, classification and / or state evaluation. Fig. 6 - Schematic representation of mechanical deformation

[0050] Fig. Figure 6A - Rest state shows a schematic representation of the textile system (10) in the rest state, where the mesh structure is in a geometrically unchanged initial form without mechanical action.

[0051] Fig. 6B - Deformation shows the textile system (10) according to Fig. 6A under mechanical influence (41), whereby the mesh structure is geometrically deformed and thereby causes a change in an electrical state (46) and an electromagnetic state (47). Fig. 7 - Schematic representation of the feedback loop as a field structure

[0052] shows a feedback loop between the user (40), the textile system (10), the evaluation unit (20) and the feedback unit (30), whereby a feedback signal (53) is generated and supplied to the user, which is output visually, haptically, thermally or electromagnetically and enables a direct interaction with the user. Reference symbol list 10 textile system / textile mesh structure 11 Core thread / elastic core / elastic anchors 12 electrically conductive winding threads 13 magnetically or inductively effective winding threads 14 sensor nodes 15 guiding paths 20 evaluation units 21-25 processing steps (acquisition, preparation, analysis, classification and evaluation) 30 feedback unit 40 users 41 mechanical impact / deformation 46 Change in electrical state 47 Change in the electromagnetic state 53 Feedback signal Advantages of the invention • simultaneous detection of physical, especially mechanical and electromagnetic, states, • High local resolution due to the textile mesh structure, • Flexible and scalable integration, • feedback interaction between user and technical system, • Combined sensor and actuator functionality within a common textile structure. Implementation examples Example 1 - Interactive text interface

[0053] The textile sensor system is positioned above a display. Local influences alter the signal states and affect the displayed content. Upon contact with an object, the structure undergoes a distributed change in state, allowing the system to adapt locally and / or globally to the object's shape, position, and movement. Example 2 - Portable sensor system

[0054] The textile is integrated into clothing and detects mechanical states, in particular movement, stretching, vibration, pressure distributions, and / or local stress conditions. These changes in state are functionally coupled, enabling the system to adapt automatically and react to the influence by altering its physical properties locally or globally. Example 3 - Fluid-based application

[0055] A medium is passed through the textile system and analyzed based on changes in electrical and electromagnetic states. In particular, changes in voltage and electromagnetic fields are evaluated. The interaction between the medium and the textile structure leads to a distributed change of state, which can be used to analyze, control, or influence the medium. Example 4 - humanoid skin

[0056] In a preferred embodiment, the textile system is designed as an artificial or humanoid skin structure, in particular as humanoid skin, wherein the mechanical influences are detected as tactile stimuli and / or mechanical states and converted into coupled electrical and electromagnetic state changes. This allows the skin structure to differentiate between touch, pressure, or deformation and make it usable for interactive or sensory applications. Example 5 - medical or analytical application

[0057] In another embodiment, a medium, in particular a liquid, a gas or a biological material, is passed through or over the textile sensor system or brought into contact with it.

[0058] Mechanical and / or electromagnetic changes of state caused by interactions between the medium and the yarn structure are recorded and evaluated together.

[0059] In this way, volatile substances or gaseous components, for example from respiratory gases or from biological or metabolic processes, can also be detected by measuring their influence on the physical properties of the system.

[0060] By simultaneously recording several physical state variables, characteristic patterns and state information of the medium can be derived, especially with regard to composition, concentration or temporal change.

[0061] The system is not limited to specific media, but can be used to analyze various liquid, gaseous or mixed substance systems.

[0062] Example 6 - large-scale textile structure for environmental analysis and condition control

[0063] In another embodiment, the textile sensor system is designed as a large-area, in particular tent-like or membrane-like structure, which is arranged over or around a room, an object or an area.

[0064] The structure serves to detect environmental conditions, in particular mechanical, climatic and / or electromagnetic influences, whereby these are detected and evaluated in a spatially resolved and coupled manner via the distributed yarn structure.

[0065] By simultaneously recording several physical state variables, complex and time-varying influences can be determined in a differentiated manner.

[0066] In a further embodiment, the system is designed to react to detected changes in state and to selectively influence the interaction with the environment, in particular by damping, shielding, deflection or adjustment of physical properties.

[0067] The textile structure can be designed as a flexible shell, cover or functional layer, which can be adapted to different applications and systems regardless of its geometric shape. Example 7 - portable or body-worn design

[0068] In another embodiment, the textile sensor system is designed as a wearable or body-worn structure, in particular as protective clothing or a functional shell for biological and technical systems.

[0069] The structure can be adapted to the body of a human, an animal, a plant or a technical carrier and serves to detect conditions and to influence the interaction with the environment.

[0070] By simultaneously acquiring physical state variables, external influences can be differentiated and simultaneously dampened, shielded or selectively influenced by the material properties. Example 8 - Audiovisual Control Application

[0071] In another embodiment, the textile sensor system is used to control audiovisual output systems.

[0072] Changes in the electrical and electromagnetic states of the textile caused by mechanical influences, approach, stretching, contact or electromagnetic field changes are detected, coupled and evaluated, and converted into structured control signals.

[0073] The control signals are fed to an evaluation unit (20) and used to modulate sound, image, video or light parameters, thus generating dynamic, user-dependent feedback. Example 9 - Synchronization and Interference Application

[0074] In another embodiment, the textile sensor system is used to detect and compensate for signal deviations and interferences in coupled signal states.

[0075] The changes in state caused by mechanical, electrical and electromagnetic influences are analyzed temporally and spatially, correlated in a structured manner and compared in the evaluation unit (20).

[0076] This allows characteristic signal patterns to be synchronized and interference to be reduced, enabling consistent and correlated state profiles between user (40), technical system and environment. Example 10 - Human-System Coupling

[0077] In another embodiment, the textile sensor system is used as an interface for mutual interaction between a human user (40) and a technical system, particularly in the field of humanoid or robotic applications.

[0078] Changes in the electrical and electromagnetic states of the textile caused by touch, movement, pressure, or proximity are recorded together and used to transmit state information between user and system.

[0079] The textile system enables a continuous bidirectional, mutually linked and multi-sided interaction, in which mechanical and field-based influences are converted into structured, assignable and condition-dependently coupled controllable signals and exchanged between human and technical components.

[0080] During operation, a stable interaction state can develop in which introduced mechanical and field-based influences are not only detected but also transformed into a spatially distributed and temporally persistent state structure, thereby enabling a continuous, area-wide and feedback-based, iterative state interaction between user interaction and system response. Example 11 - Textile support structure for objects

[0081] The textile system is designed as a planar structure, in particular as knitted fabric, preferably as knitted or crocheted fabric, and is intended for receiving, slowing down and / or stabilizing objects.

[0082] Upon contact with an object, the structure causes a distributed change of state, whereby the system adapts locally and / or globally to the shape, position and movement of the object.

[0083] Due to the coupled arrangement of the threads, a force is distributed across the entire structure, allowing acting objects to be slowed down, absorbed, and their movement influenced or held.

[0084] This enables adaptive interaction with the objects, especially for gentle picking up, stabilizing or redirecting. Example 12 - textile structure for influencing electromagnetic signatures

[0085] In another embodiment, the textile sensor system is designed as an adaptive, planar structure that is configured to interact with electromagnetic fields.

[0086] The interaction of the structure with incident electromagnetic waves can be specifically influenced by the coupled change in electrical and electromagnetic properties as a result of mechanical and / or field-induced effects.

[0087] In particular, the reflection, absorption and scattering properties of electromagnetic waves can be changed.

[0088] The textile structure can be arranged on the surfaces of objects, especially moving or stationary technical systems, and influence their electromagnetic signature, particularly for the reduction, modulation or targeted adjustment of detectable properties. Example 13 - Textile structure for adaptively influencing electromagnetic interactions

[0089] In another embodiment, the textile sensor system is provided as an adaptive, planar or three-dimensional structure designed to selectively influence the electromagnetic interaction of an enveloped or at least partially covered object with its environment.

[0090] The textile structure comprises a multitude of functionally coupled sensor yarns whose electrical and electromagnetic properties change as a result of mechanical deformations and / or external field-induced influences. The geometrically determined coupling of these properties within the yarn and stitch structure creates a distributed system that reacts to incident electromagnetic waves.

[0091] In particular, changes in the conductivity, inductance, and / or capacitance of the structure lead to a change in the reflection, absorption, and scattering properties of electromagnetic waves. This adaptation occurs passively through structure- and material-related effects and / or actively through a targeted change in the state parameters as a result of mechanical or field-induced influences.

[0092] This allows the electromagnetic interaction of an object equipped with the structure to be specifically modified, in particular with regard to intensity, directional characteristics or spectral composition of the reflected, absorbed or scattered components of electromagnetic radiation.

[0093] The textile structure can be arranged on different objects and systems, especially on movable or stationary technical equipment, and serves to adapt the electromagnetic interaction with the environment to the situation.

[0094] Additionally, the geometrically coupled structure can generate mechanical micro-movements or vibrations within the textile structure, which correlate with electrical and electromagnetic state changes and further influence the interaction with the environment. The textile structure can be used particularly in applications close to the body, where the generated micro-movements act as finely graduated, surface-distributed feedback signals. Example 14 - Textile structure for the directed influencing of electromagnetic interactions

[0095] In another embodiment, the textile sensor system is provided as an adaptive, planar or three-dimensional structure designed to selectively and directionally influence the electromagnetic interaction of an enveloped or at least partially covered object with its environment.

[0096] The textile structure comprises a multitude of functionally coupled sensor yarns whose electrical and electromagnetic properties change as a result of mechanical deformations and / or external field-induced influences. The geometrically determined coupling of these properties within the yarn and stitch structure creates a distributed system with locally variable properties.

[0097] In particular, spatially differentiated changes in the conductivity, inductance and / or capacitive properties of the structure can be used to selectively reflect, absorb, scatter or influence the direction of propagation of electromagnetic waves.

[0098] This allows the electromagnetic interaction of an object equipped with the structure to be controlled in a targeted manner, particularly with regard to the spatial distribution, directional characteristics or bundling of the reflected, absorbed or scattered components of electromagnetic radiation. Example 15 - Textile structure for generating time-varying electromagnetic fields

[0099] In another embodiment, the textile sensor system is designed as a body-close or planar structure that is configured to generate time-varying electromagnetic fields.

[0100] The textile structure comprises a variety of electrically conductive and / or inductively active sensor yarns, which are arranged in the mesh structure in such a way that they form a distributed field system.

[0101] By controlling the yarn structure, electromagnetic fields with variable temporal profiles can be generated, especially in the form of pulsating, oscillating or modulated field patterns with different frequencies and intensities.

[0102] The generation of electromagnetic fields can depend on detected state variables, resulting in a coupled sensor-actuator structure that reacts to changes in state.

[0103] The textile structure can take the form of garments, coverings or lying surfaces that surround at least part of the user's body. Example 16 - Textile structure for influencing electromagnetic environmental conditions

[0104] In another embodiment, the textile sensor system is designed as a planar or spatially arranged structure that is configured to influence electromagnetic environmental conditions in a room or in a delimited area.

[0105] The textile structure can be designed in particular as a curtain, cover, wall structure, tent or space-forming element and comprises a variety of functionally coupled sensor yarns with electrically conductive and / or electromagnetically effective properties.

[0106] The structure and arrangement of the yarns can dampen, shield, deflect, or influence the spatial distribution of electromagnetic fields in space.

[0107] In a further embodiment, the structure is designed to react to detected changes in state and to adaptively adjust its electromagnetic properties. Example 17 - Textile structure for energy distribution and signal transmission within a textile network

[0108] In another embodiment, the textile sensor system is designed to distribute and guide electrical and / or electromagnetic energy within the textile structure.

[0109] The yarn and mesh structure forms a distributed network of guide paths and nodes, through which electrical signals and / or electromagnetic states can be spatially transmitted.

[0110] The geometric arrangement and coupling of the yarns allows energy flows and signal patterns within the structure to be influenced, redirected, or locally concentrated.

[0111] In particular, the structure can be used to direct energy or signals to specific areas of the textile or to amplify them there, whereby the distribution can be static or dynamic depending on detected changes in state. Example 18 - large-scale structure

[0112] In another embodiment, the textile sensor system is designed as a large-area, flexible or membrane-like structure, which is used to detect mechanical, climatic and / or electromagnetic influences on surfaces.

[0113] In particular, local effects such as mechanical loads, micro-movements or external influences can be recorded and evaluated with spatial resolution.

[0114] The structure is particularly suitable for applications with large-area or difficult-to-access systems, as well as for environments with increased mechanical, climatic or field-related stresses. Example 19 - Robotic Interaction Surface

[0115] In another embodiment, the textile sensor system is used as a planar, flexible interaction surface for technical systems, in particular for high-resolution detection and differentiation of touches, forces, movements or approaches.

[0116] The textile structure enables spatially resolved, continuous and multidimensional state determination and can be used for real-time interaction between technical systems and their environment.

Claims

Textile sensor system comprising a deformable, knitted or woven mesh (10), wherein the mesh has at least one sensor yarn with a core thread (11), in particular an elastic core, preferably an elastomeric anchor, an electrically conductive winding thread (12) and a magnetically and / or inductively effective winding thread (13), characterized in that mechanical actions on the mesh simultaneously cause a change in an electrical state, in particular the resistance, and cause a change in an electromagnetic field state in the textile system, wherein these changes are structurally determined by geometric structural parameters of the thread arrangement and are physically coupled, such that the electrical and electromagnetic state changes necessarily occur together and are based on the same geometric change in the yarn structure. System according to claim 1, characterized in that the threads are geometrically arranged relative to each other and structurally linked together in such a way that a mechanical deformation of the yarn structure causes a mutually dependent change in electrical resistance and inductance, wherein the changes can be detected separately and are subjected to a common evaluation, so that a differentiated and assignable determination of mechanical effects is made possible. System according to claim 1 or 2, characterized in that the sensor yarn is formed as a filament composite of several individual filaments, wherein the individual filaments each have an elastic core and at least one electrically conductive and / or electromagnetically effective winding filament and are brought together within a common yarn structure, so that a coupled effect of the electrical and electromagnetic properties is created between the individual filaments. System according to one of claims 1 to 3, characterized in that the winding threads are arranged spirally around the core thread, in particular an elastomer anchor, so that in the event of mechanical deformation a reproducible change in the geometric winding parameters, in particular the winding angle and / or the winding density, occurs, whereby the changes in the electrical and electromagnetic properties of the yarn structure can be detected in a differentiated manner. System according to one of the preceding claims, characterized in that the winding threads are wound in opposite directions around the core thread, in particular an elastomer anchor, so that the changes in electrical and electromagnetic properties caused by mechanical deformation can be detected in a differentiated manner. System according to one of the preceding claims, characterized in that the yarn structure is part of a textile composite, in particular a knitted structure, in which the yarns are arranged in such a way that functionally different areas are formed, in particular a load-bearing, an electrically conductive and an electromagnetically effective structure. System according to one of the preceding claims, wherein the mesh network has a plurality of sensor nodes (14) for local detection of mechanical effects, wherein the mesh network is designed as a percolating, guide-path-like coupled fiber network in which small geometric changes trigger large electrical effects. System according to one of the preceding claims, characterized in that the textile system has a structured arrangement of sensor nodes (14) and guide paths (15) which enables spatially resolved detection, assignment and differentiation of mechanical effects. System according to one of the preceding claims, wherein the textile system is configured to distinguish between a state of rest and a change of state produced by mechanical action. System according to one of the preceding claims, wherein the detected state changes are supplied to an evaluation unit (20) which generates a feedback signal (53) from them, in particular a visual, an acoustic or a tactile signal. System according to one of the preceding claims, wherein the changes in the electrical state and the electromagnetic state are evaluated together to enable a multidimensionally differentiated determination of mechanical effects. System according to one of the preceding claims, wherein the textile sensor system is flexible and planar and can be integrated into clothing, technical surfaces or controllable textile or technical applications. System according to one of the preceding claims, characterized in that, in addition to the resistive and inductive properties, capacitive and / or piezoelectric effects are integrated into the yarn and / or mesh structure, so that multiple coupling of physical state changes takes place within a common textile structure. System according to one of the preceding claims, characterized in that the yarn and / or mesh structure is configured to actively or passively change its electrical and / or electromagnetic properties depending on detected changes in state. System according to one of the preceding claims, characterized in that several textile substructures are connected to each other and form a higher-level, distributed sensor system in which changes of state between the substructures are exchanged and jointly evaluated. System according to one of the preceding claims, characterized in that the yarn and / or mesh structure is configured to generate electrical energy from the geometrically coupled changes of state caused by mechanical and / or electromagnetic influences and / or to use it within the system to supply electronic components. System according to one of the preceding claims, characterized in that the yarn and / or mesh structure is designed to influence the interaction with electromagnetic waves, in particular by changing reflection, absorption and / or scattering properties. System according to one of the preceding claims, characterized in that the textile system is configured to actively influence its environment depending on detected changes in state, in particular by targeted modification of electrical, electromagnetic and / or mechanical properties. System according to one of the preceding claims, characterized in that the textile sensor system is designed as a planar, enveloping or space-forming structure, in particular as a membrane, shell, cover or textile space structure. System according to claim 3, characterized in that the individual threads within the common yarn structure have different functional properties, in particular with regard to electrical conductivity, inductive effect and / or capacitive properties, so that a functionally differentiated and coupled state evaluation within a single sensor yarn is enabled. System according to one of the preceding claims, characterized in that the textile sensor system is configured to convert physically coupled state changes into a structured, evaluable state representation, which is supplied to a higher-level processing unit for pattern recognition, state classification and / or adaptive control, so that a coherent, bidirectional interaction between a user, in particular a human and / or humanoid user, and / or a technical system, in particular a mobile or autonomous system such as a drone, is enabled. System according to one of the preceding claims, characterized in that the core thread is designed as an elastic, partially elastic, rigid or as a combination of elastic and rigid sections, in particular as a monofilament, multifilament or hybrid structure. System according to one of the preceding claims, characterized in that the yarn and / or stitch structure has functional properties that vary section by section or periodically, in particular in the form of recurring structural or functional phases, wherein different sections have different electrical, electromagnetic and / or mechanical properties. System according to one of the preceding claims, characterized in that the yarn and / or fiber structure is formed at least section by section as a hollow fiber or cavity-containing structure and / or is provided or filled with functional materials, in particular with ingredients, particles, liquids, gels, coatings or embedded actuators, so that additional physical, chemical and / or electromagnetic properties are introduced into the textile system. System according to one of the preceding claims, characterized in that the functional materials contained in the yarn and / or fiber structure are designed for the absorption, storage, conduction and / or targeted release of substances, in particular depending on mechanical, electrical and / or electromagnetic changes of state. System according to one of the preceding claims, characterized in that the yarn and / or fiber structure is configured to enable the transport of materials and / or the spatially directed distribution of substances within the hollow fiber or cavity-containing structure, wherein this transport is passively and / or actively controllable as well as depending on the state. System according to one of the preceding claims, characterized in that additional functional elements are integrated into the yarn and / or mesh structure, in particular in the form of wire, fiber, coated or microstructured elements with electrical, magnetic, inductive and / or capacitive properties that are functionally coupled to the textile structure. System according to one of the preceding claims, characterized in that the functional elements are integrated within the yarn structure, into the stitch structure or arranged as a separate layer on, under or within the textile structure. System according to one of the preceding claims, characterized in that the yarn and / or mesh structure is modified at least section by thermal, laser-based, printing, coating or comparable structuring or application processes, in particular by local modification of material properties, conductivity, surface structure or geometry, so that functional areas with different electrical and / or electromagnetic properties are formed. System according to one of the preceding claims, characterized in that functional materials are applied, printed, inserted, burned in, lasered or coated onto the yarn and / or mesh structure, in particular in the form of electrically conductive, semiconducting or insulating structures, such that additional functional areas, in particular conductor tracks, contacts, sensor areas or electronic circuits, are formed within the textile structure. System according to one of the preceding claims, characterized in that the functional elements are designed as microstructures, in particular comprising wire, fiber, layer or coating structures in the micro or micrometer range. System according to one of the preceding claims, characterized in that the electrically conductive and / or electromagnetically active elements consist of different materials, in particular metals, metallic compounds, inorganic or ceramic materials, silicon-based materials and / or oxide materials, wherein in particular aluminium, copper, silver, gold, zinc, titanium and / or zinc oxide are used. System according to one of the preceding claims, characterized in that the textile structure is multilayered and sensor nodes (14) within a plane form a planar network structure via guide paths (15) and are coupled between several planes via electrically and / or electromagnetically effective structural elements, in particular inductive or coil-like structural elements. System according to one of the preceding claims, characterized in that the textile sensor system is designed as a networkable structure which can be coupled with further functional elements, sensor elements and / or technical systems, wherein the coupling is effected in particular via the yarn and / or mesh structure as well as via additional microstructured, conductive, electromagnetically active or coated elements and different functional areas with varying structural, electrical and / or electromagnetic properties are formed, so that a distributed, state-dependent processing and transmission of signals within the textile structure is enabled. System according to one of the preceding claims, characterized in that at least one wire-shaped, electrically conductive and / or electromagnetically effective structural element with geometric elongation reserve is integrated into the textile structure, in particular in the form of an arc-, wave-, loop-, helix-, coil- and / or serpentine-shaped guide, so that changes in length or deformations of the textile structure can be accommodated without the wire-shaped structural element itself having to be elastic to a corresponding degree. System according to one of the preceding claims, characterized in that at least one wire-shaped structural element is arranged within the yarn, mesh and / or layer structure with mechanical slippage, clearance or relative mobility, such that changes in the state of the textile structure can be accommodated by changes in shape, rearrangement and / or movement reserve of the wire-shaped structural element. System according to one of the preceding claims, characterized in that vertically extending, wire-shaped, helical and / or coil-like structural elements are arranged between several textile planes, which couple the planes mechanically, electrically and / or electromagnetically and are designed to detect changes in distance, pressure, deformation, approach and / or relative movement between the planes. System according to one of the preceding claims, characterized in that at least one functional structural element is formed from a shape memory alloy, in particular a nickel-titanium alloy. System according to one of the preceding claims, characterized in that the structural element made of shape memory alloy has a pseudoelastic property, such that mechanical deformations of the textile structure are reversibly absorbed and compensated. System according to one of the preceding claims, characterized in that the structural element made of shape memory alloy performs a shape change or restoring movement depending on temperature changes, so that an active adaptation of the textile structure is enabled. System according to one of the preceding claims, characterized in that the structural element made of shape memory alloy is designed as a wire-shaped, helical and / or coil-like connecting element between several textile planes and serves for mechanical, electrical and / or electromagnetic coupling as well as for adaptive movement or prestressing of the structure. System according to one of the preceding claims, characterized in that the textile sensor system is designed for distributed, state-dependent processing, linking and / or transformation of signals within the textile structure, such that the system functions as a physically acting, decentralized processing and / or computing system.

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