阅读说明：本技术 一种脊柱和肢体关节传感系统及其控制方法 (Spine and limb joint sensing system and control method thereof ) 是由 唐伟 王中林 黎承煜 于 2021-11-11 设计创作，主要内容包括：本发明公开了一种脊柱和肢体关节传感系统及其控制方法,所述系统包括：可穿戴自驱动传感器和信号处理组件,所述可穿戴自驱动传感器穿戴在人体脊柱或肢体关节处,通过采集人体运动产生的机械能,并将机械能转化为电能,为传感系统提供传感信号源,所述信号处理组件实时采集所述可穿戴自驱动传感器输出的电信号,并通过无线传输设备传送至移动终端进行显示。本发明解决了现人体姿态数据难以全天实时准确获取的问题。(The invention discloses a spine and limb joint sensing system and a control method thereof, wherein the system comprises: wearable self-driven sensor and signal processing subassembly, wearable self-driven sensor dress is in human backbone or limbs joint department, through the mechanical energy of gathering human motion production to turn into the electrical energy with mechanical energy, for sensing system provides the sensing signal source, signal processing subassembly gathers in real time the signal of telecommunication of wearable self-driven sensor output to convey to mobile terminal through wireless transmission equipment and show. The invention solves the problem that the existing human body posture data is difficult to accurately acquire all day long.)

1. A spinal and extremity joint sensing system, said system comprising: wearable self-driven sensor and signal processing subassembly, wearable self-driven sensor dress is in human backbone or limbs joint department, through the mechanical energy of gathering human motion production to turn into the electrical energy with mechanical energy, for sensing system provides the sensing signal source, signal processing subassembly gathers in real time the signal of telecommunication of wearable self-driven sensor output to convey to mobile terminal through wireless transmission equipment and show.

2. A spinal and extremity joint sensing system as recited in claim 1, wherein said wearable self-propelled sensor comprises: a stator portion, a rotor portion and a cover portion, the stator portion, rotor portion and cover portion being coaxially mounted from bottom to top, the cover portion for enclosing a wearable self-driven sensor top, the rotor portion comprising: the rotor comprises a rotor viscous film, a rotor outer wall, a rotor main body, a rotor flexible circuit board, a coil spring assembly, a connecting shaft and a rope piece; the stator portion includes: the device comprises a stator viscous film, a support base, a friction dielectric layer, a screw, a nut, a stator flexible circuit board and a potentiometer; when the rope part in the wearable self-driven sensing device is stretched or contracted under the external mechanical stress, the rotor part rotates relative to the stator part.

3. The spine and limb joint sensing system according to claim 2, wherein the rotor adhesive film and the stator adhesive film are both double-sided tapes, the rotor adhesive film is used for attaching the rotor flexible circuit board to the outer wall of the rotor, and the stator adhesive film is used for attaching the stator flexible circuit board to the inner wall of the support base.

4. The spine and limb joint sensing system according to claim 2, wherein said rotor flexible circuit board for making friction layer electrodes of friction nano-generator has periodic grid electrode structure, said stator flexible circuit board for making induction electrodes of friction nano-generator has periodic interdigital grid electrode structure, the total number of interdigital grid electrodes of stator flexible circuit board is positive integer multiple of the total number of grid electrodes of said rotor flexible circuit board, and said rotor flexible circuit board, said stator flexible circuit board and said friction dielectric layer are aligned in equal width.

5. The spinal and extremity joint sensing system of claim 2, wherein the triboelectric dielectric layer used to make the triboelectric nano-generator comprises various polymer triboelectric materials with strong electron-capturing ability attached to the stator flexible circuit board or the rotor flexible circuit board.

6. The spine and limb joint sensing system according to claim 2, wherein the potentiometer is mechanically embedded in a connection shaft for synchronous rotation with the connection shaft, the potentiometer, the rotor, the stator and the cover are coaxially and vertically arranged, the cable member is wound around the rotor body, one end of the cable member is fixed to the rotor body, the other end of the cable member can be extended or contracted in any direction, and the coil spring assembly is used for storing or releasing mechanical energy when the cable member is extended or contracted.

7. The spine and limb joint sensing system according to claim 2, wherein said inner wall of said supporting base is attached with a stator flexible circuit board, and the outer wall of said supporting base is provided with a screw and a nut, said screw and nut are used for adjusting the contact tightness between said rotor and said stator, so as to control the output electric signal optimally.

8. A spinal and extremity joint sensing system as recited in claim 1, wherein said signal processing assembly comprises: the wearable self-driven sensor comprises a signal acquisition module, a signal processing module, a wireless communication module and a mobile terminal, wherein the signal acquisition module acquires and digitizes an electric signal output by the wearable self-driven sensor; the signal processing module processes the acquired electric signals to obtain stretching vector displacement information of the rope piece; the wireless communication module transmits the vector displacement information to a mobile terminal in a wireless mode; and the mobile terminal is used for reprocessing, displaying and storing the vector displacement information.

9. A method of controlling a spinal and extremity joint sensing system, the method comprising:

when a rope piece in the wearable self-driven sensing device is stretched or contracted under the action of external mechanical stress, the coil spring assembly stores or releases mechanical energy, and meanwhile, a friction nano generator formed by the friction dielectric layer and the flexible circuit board electrode outputs an alternating current signal outwards; the external mechanical stresses include: various human limb joint activity kinetic energy, spine bending kinetic energy, external physical kinetic energy and biological kinetic energy; the alternating current signal output by the friction nano generator comprises a wave crest, a wave trough and an output signal waveform diagram, and is used for calculating the tensile displacement of the rope piece; and voltage signals at two ends of the potentiometer are used for calculating and analyzing the stretching direction of the rope piece.

10. The control method of the spine and limb joint sensing system according to claim 9, wherein the wearable self-driven sensor collects the bio-mechanical energy of the spine and limb joint movement, the mechanical energy is converted into a sensing electric signal by using the principle of the friction nano-generator, and the tensile displacement of the rope member is obtained by the signal conditioning circuit; simultaneously detecting voltage signals at two ends of the potentiometer, and calculating by a signal conditioning circuit to obtain the stretching displacement direction of the rope piece; the wearable self-driven sensor can be used for monitoring the spinal curvature and sensing the joint movement of limbs.

Technical Field

The invention relates to the field of gesture recognition control, in particular to a spine and limb joint sensing system and a control method thereof.

Background

The development of modern technology is accompanied by the increase of social pressure, a large number of office workers and student groups often use computers or mobile phones for a long time in unhealthy postures, and the long-term maintenance of the unhealthy postures is easy to cause spinal diseases and physical fatigue. Fortunately, early posture abnormalities can be corrected by wearable posture monitoring sensing devices and necessary interventions, and therefore, personal health monitoring and assessment is becoming increasingly indispensable in today's society, which has pushed the development of sensing technology, wearable electronics, wireless communication, and nanoscience to a great extent. In addition, human joint activities including walking, bending, running and jumping all contain abundant and sustainable bio-mechanical kinetic energy, and if the self-driven sensing technology of a friction nano generator (TENG) can be combined and the bio-mechanical kinetic energy can be effectively utilized, the human joint activities become a self-driven active sensing unit applied to human joint activity monitoring, and the application of wearable electronics in the personal health medical field is certainly and greatly expanded.

Depth cameras and Inertial Measurement Units (IMUs), etc., can be applied to monitoring movements of human body and movements of posture to a certain extent. However, depth cameras are not a wearable technology, and monitoring sensing is forced to cease when a subject moves from one location to another, leaving the camera's field of view. On the other hand, the inertial measurement-based device, such as the acceleration module based on single-point measurement, needs complex body parameters to perform algorithm optimization calculation and establish a model to analyze the real-time motion state of the human body, and it can be seen that the measurement means is indirect and complex. Furthermore, during the use of the inertial module, the measurement error will become larger with time, which not only reduces the accuracy of the sensing system, but also requires continuous additional calibration to make the entire sensing system more stable. Therefore, there is an urgent need for a wearable sensor and a system thereof, which can realize direct sensing and have high precision, strong adaptability and good stability.

Disclosure of Invention

Therefore, the invention provides a spine and limb joint sensing system and a control method thereof, which aim to solve the problem that the existing human body posture data is difficult to accurately acquire all day long.

In order to achieve the above purpose, the invention provides the following technical scheme:

according to a first aspect of the present invention, there is disclosed a spine and limb joint sensing system, the system comprising: wearable self-driven sensor and signal processing subassembly, wearable self-driven sensor dresses in human backbone or limbs joint department, through gathering mechanical energy to turn into the electric energy with mechanical energy, provide the sensing signal source for sensing system, signal processing subassembly gathers in real time the signal of telecommunication of wearable self-driven sensor output to convey to mobile terminal through wireless transmission equipment and show.

Further, the wearable self-driven sensor comprises: a stator portion, a rotor portion and a cover portion, the stator portion, rotor portion and cover portion being coaxially mounted from bottom to top, the cover portion for enclosing a wearable self-driven sensor top, the rotor portion comprising: the rotor comprises a rotor viscous film, a rotor outer wall, a rotor main body, a rotor flexible circuit board, a coil spring assembly, a connecting shaft and a rope piece; the stator portion includes: the device comprises a stator viscous film, a support base, a friction dielectric layer, a screw, a nut, a stator flexible circuit board and a potentiometer; when the rope part in the wearable self-driven sensing device is stretched or contracted under the external mechanical stress, the rotor part rotates relative to the stator part.

Furthermore, the rotor viscous film and the stator viscous film are both double-sided adhesive tapes, the rotor viscous film is used for attaching the rotor flexible circuit board to the outer wall of the rotor, and the stator viscous film is used for attaching the stator flexible circuit board to the inner wall of the supporting base.

Furthermore, the rotor flexible circuit board is used for manufacturing a friction layer electrode of the friction nano generator and has a periodic grid electrode structure, the stator flexible circuit board is used for manufacturing an induction electrode of the friction nano generator and has a periodic interdigital grid electrode structure, the total number of interdigital grid electrodes of the stator flexible circuit board is positive integral multiple of the total number of grid electrodes of the rotor flexible circuit board, and the rotor flexible circuit board, the stator flexible circuit board and the friction dielectric layer are aligned in an equal width mode.

Furthermore, the friction dielectric layer is used for manufacturing a friction layer of the friction nano generator, and comprises various polymer friction layer materials with strong electron capacity, and the polymer friction layer materials are attached to the surface of the stator flexible circuit board or the surface of the rotor flexible circuit board.

Further, the potentiometer is mechanically embedded and connected with the connecting shaft and used for synchronously rotating along with the connecting shaft, the potentiometer, the rotor, the stator and the cover are coaxially and vertically arranged, the rope piece is wound on the rotor body, one end of the rope piece is fixed on the rotor body, the other end of the rope piece can be stretched or contracted along any direction, and the coil spring assembly is used for storing or releasing mechanical energy when the rope piece is stretched and contracted.

Furthermore, a stator flexible circuit board is attached to the inner wall of the supporting base, a screw and a nut are arranged on the outer side wall of the supporting base, and the screw and the nut are used for adjusting the contact tightness between the rotor and the stator so as to control the output electric signal to be optimal.

Further, the signal processing assembly comprises: the wearable self-driven sensor comprises a signal acquisition module, a signal processing module, a wireless communication module and a mobile terminal, wherein the signal acquisition module acquires and digitizes an electric signal output by the wearable self-driven sensor; the signal processing module processes the acquired electric signals to obtain stretching vector displacement information of the rope piece; the wireless communication module transmits the vector displacement information to a mobile terminal in a wireless mode; and the mobile terminal is used for reprocessing, displaying and storing the vector displacement information.

According to a second aspect of the invention, a method of controlling a spine and limb joint sensing system is disclosed, the method comprising:

when the rope piece in the wearable self-driven sensing device is stretched or contracted under the action of external mechanical stress, the coil spring assembly stores or releases mechanical energy, and meanwhile, a friction nano generator formed by the friction dielectric layer and the flexible circuit board electrode outputs an alternating current signal outwards; the external mechanical stresses include: various human limb joint activity kinetic energy, spine bending kinetic energy, external physical kinetic energy and biological kinetic energy; the alternating current signal output by the friction nano generator comprises a wave crest, a wave trough and an output signal waveform diagram, and is used for calculating the tensile displacement of the rope piece; and voltage signals at two ends of the potentiometer are used for calculating and analyzing the stretching direction of the rope piece.

Further, the wearable self-driven sensor collects the biological mechanical energy of the spinal column and limb joint movement, the mechanical energy is converted into a sensing electric signal by utilizing the principle of the friction nano generator, and the tensile displacement of the rope piece is obtained through the signal conditioning circuit; simultaneously detecting voltage signals at two ends of the potentiometer, and calculating by a signal conditioning circuit to obtain the stretching displacement direction of the rope piece; the wearable self-driven sensor can be used for monitoring the spinal curvature and sensing the joint movement of limbs.

The invention has the following advantages:

the invention discloses a spine and limb joint sensing system and a control method thereof.A wearable self-driven sensor is used for acquiring the biomechanical energy of the spine and limb joints of a human body, and a friction nano generator formed between a rotor part and a stator part outputs an alternating current signal outwards; and voltage signals at two ends of the potentiometer are used for calculating and analyzing the stretching direction of the rope piece. The signal processing assembly processes the electric signals, displays the electric signals through the mobile terminal, utilizes the wearable self-driven sensor to realize the monitoring of spinal curvature and the sensing of limb joint movement, can acquire human posture information at any time and any place, has high precision, strong adaptability and good stability, and meets the research requirements.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a diagram of a spinal and extremity joint sensing system architecture provided by an embodiment of the present invention;

FIG. 2 is an exploded view of a wearable self-propelled sensor of a spinal and extremity joint sensing system according to an embodiment of the present invention;

FIG. 3 is a graph of experimental data for a spinal and extremity joint sensing system according to an embodiment of the present invention;

FIG. 4 is a graph of experimental data for a spinal and extremity joint sensing system according to an embodiment of the present invention;

FIG. 5 is a flow chart of a control method for a spine and limb joint sensing system according to an embodiment of the present invention;

in the figure: 1-cover part, 2-rotor part, 3-stator part, 20-signal processing component, 21-connecting shaft, 22-rope part, 23-rotor body, 24-coil spring component, 25-rotor outer wall, 26-rotor flexible circuit board, 31-potentiometer, 32-screw and nut, 33-friction dielectric layer, 34-stator flexible circuit board, 35-supporting base.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1, the present embodiment discloses a spine and limb joint sensing system, the system comprising: wearable self-driven sensor and signal processing subassembly 20, wearable self-driven sensor dress is in human backbone or limbs joint department, through gathering mechanical energy to turn into the electric energy with mechanical energy, for sensing system provides the sensing signal source, signal processing subassembly 20 gathers in real time the signal of telecommunication of wearable self-driven sensor output to convey to mobile terminal through wireless transmission equipment and show.

Referring to fig. 2, the wearable self-driven sensor includes: a stator part 3, a rotor part 2 and a cover part 1, the stator part 3, the rotor part 2 and the cover part 1 are coaxially installed from bottom to top, the cover part 1 is used for packaging a wearable self-driven sensor top, the rotor part 2 comprises: a rotor adhesive film, a rotor outer wall 25, a rotor main body 23, a rotor flexible circuit board 26, a coil spring assembly 24, a connecting shaft 21, a rope member 22; the stator portion 3 includes: stator viscous film, support base 35, friction dielectric layer 33, screw nut 32, stator flexible circuit board 34, potentiometer 31; when the rope part 22 in the wearable self-driven sensing device is stretched or contracted under external mechanical stress, the rotor part 2 rotates relative to the stator part 3.

The rotor viscous film and the stator viscous film are both double-sided adhesive tapes, the rotor viscous film is used for attaching the rotor flexible circuit board 26 to the rotor outer wall 25, and the stator viscous film is used for attaching the stator flexible circuit board 34 to the inner wall of the supporting base 35. The flexible rotor circuit board 26 is used for manufacturing a friction layer electrode of the friction nano-generator, and has a periodic grid electrode structure, the flexible stator circuit board 34 is used for manufacturing an induction electrode of the friction nano-generator, and has a periodic interdigital grid electrode structure, the total number of the interdigital grid electrodes of the flexible stator circuit board 34 is a positive integer multiple of the total number of the grid electrodes of the flexible rotor circuit board 26, and is set to be twice in the embodiment, and the width of the flexible rotor circuit board 26, the width of the flexible stator circuit board 34, and the width of the friction dielectric layer 33 are equal and aligned.

The friction dielectric layer 33 is used for manufacturing a friction layer of a friction nanogenerator, and comprises various polymer friction layer materials with strong electron-gaining capability, such as polyimide (Kapton), Polytetrafluoroethylene (PTFE), Fluorinated Ethylene Propylene (FEP) and the like, and is attached to the stator flexible circuit board 34 or the surface of the rotor flexible circuit board 26.

The potentiometer 31 is mechanically embedded and connected with the connecting shaft 21 and used for synchronously rotating along with the connecting shaft 21, the potentiometer 31, the rotor, the stator and the cover are coaxially and vertically arranged, the rope piece 22 is wound on the rotor body 23, one end of the rope piece is fixed on the rotor body 23, the other end of the rope piece can be stretched or contracted along any direction, and the coil spring assembly 24 is used for storing or releasing mechanical energy when the rope piece 22 is stretched and contracted.

The inner wall of the supporting base 35 is attached with a stator flexible circuit board 34, the outer side wall of the supporting base 35 is provided with a screw nut 32, and the screw nut 32 is used for adjusting the contact tightness degree of the rotor and the stator so as to control the output electric signal to be the best.

The signal processing section 20 includes: the wearable self-driven sensor comprises a signal acquisition module, a signal processing module, a wireless communication module and a mobile terminal, wherein the signal acquisition module acquires and digitizes an electric signal output by the wearable self-driven sensor; the signal processing module processes the acquired electric signal to obtain stretching vector displacement information of the rope piece 22; the wireless communication module transmits the vector displacement information to a mobile terminal in a wireless mode; and the mobile terminal is used for reprocessing, displaying and storing the vector displacement information.

In one specific example, VHB nanometer double-sided tape is used as an adhesive film; printing the desired cover portion 1, the connecting shaft 21 in the rotor portion 2, the rotor main body 23, the rotor outer wall 25, and the support base 35 of the stator portion 3 using a photo-curing material, a resin material, or the like using a 3D printing technique; the friction dielectric layer 33 is made of polyimide material with strong electronic capability, and the coil spring and the flexible circuit board are customized, wherein the flexible circuit board adopts a bare copper gold plating process to enhance the electric conductivity and the corrosion resistance of the flexible circuit board. In order to test the sensing capability of the wearable self-driven sensor on the limb joint, the packaged wearable self-driven sensor is fixed at one end of the knee joint and the rope piece 22 is stretched to the other end to be fixed by taking the bending motion of the knee joint as an example under the condition of not using the potentiometer 31. When the knee joint is moved at low, medium and rapid bending speeds, respectively, a graph of experimental data as in fig. 3 is obtained, from which it can be seen that output voltage signals having different frequencies represent different bending speeds of the knee joint, wherein the peak number of voltages reflects the amount of displacement of the tension of the rope member 22.

In order to verify the dynamic sensing capability of the device on the spine, the SV01A103A potentiometer 31 with high precision and high linearity is mechanically embedded and connected with the connecting shaft 21, and a spine monitoring and sensing system is packaged and designed. For the spinal curvature sensing experiment, the sensor is attached to the surface of the thoracic vertebrae of the subject's spine, with one end fixed to the spinous process of lumbar vertebra L1 and the other end of the cable member 22 fixed to the spinous process of cervical vertebra C7. The result of the test data is shown in fig. 4, in which the similar sinusoidal periodic wave signal is the output voltage signal of the friction nano-generator (TENG), and the line-shaped signal is the output voltage signal at both ends of the potentiometer 31. In addition, the numeral "1" in the figure represents that the subject bends forward from the normal posture, and "e" represents returning to the normal posture, and "&" and "a" repeat the actions of "1" and "e", and "2" represents that the subject bends backward from the normal posture, and "e" represents returning to the normal posture, and "&" and "a" repeat the actions of "2" and "e". The stretching displacement of the rope piece 22 can be obtained by processing the TENG output voltage signal in the figure, the stretching displacement direction of the rope piece 22 can be obtained by processing the output voltage signal of the potentiometer 31 in the figure, and the quantitative analysis of the stretching displacement caused by the bending of the spine can be realized based on the processing of the two groups of electric signals, so that the dynamic sensing or the posture monitoring of the spine can be realized.

Example 2

The embodiment discloses a control method of a spine and limb joint sensing system, which comprises the following steps:

when the rope piece in the wearable self-driven sensing device is stretched or contracted under the action of external mechanical stress, the coil spring assembly 24 stores or releases mechanical energy, and meanwhile, the friction nano generator formed by the friction dielectric layer 33 and the flexible circuit board electrode outputs an alternating current signal outwards; the external mechanical stresses include: various human limb joint activity kinetic energy, spine bending kinetic energy, external physical kinetic energy and biological kinetic energy; the alternating current signal output by the friction nano generator comprises wave crests and wave troughs and an output signal waveform diagram, and is used for calculating the tensile displacement of the rope piece 22; the voltage signal across the potentiometer 31 is used for calculation and analysis of the direction of the tension of the rope element 22.

The wearable self-driven sensor collects the biological mechanical energy of the spinal column and limb joint movement, the mechanical energy is converted into a sensing electric signal by utilizing the principle of the friction nano generator, and the tensile displacement of the rope piece 22 is obtained through the signal conditioning circuit; simultaneously detecting voltage signals at two ends of the potentiometer 31, and calculating by a signal conditioning circuit to obtain the stretching displacement direction of the rope piece 22; the wearable self-driven sensor can be used for monitoring the spinal curvature and sensing the joint movement of limbs.

Referring to fig. 5, the specific process is:

s11, acquiring the electric signal output by the wearable self-driven sensor in real time;

s12, processing the electric signals to obtain vector displacement information of the stretching of the rope piece 22;

s13, transmitting the vector displacement information to the mobile terminal;

and S14, displaying and saving the data by the mobile terminal.

Specifically, when the rope member in the wearable self-driven sensing device is stretched or contracted by external mechanical stress, the coil spring assembly 24 stores or releases mechanical energy, and the rotor rotates relative to the stator. The friction nano generator composed of the friction dielectric layer 33 and the flexible circuit board electrode in the sensing device outputs an electric signal outwards under the coupling action of friction electric induction and static electric induction. Because the connecting shaft 21 is mechanically embedded and connected with the potentiometer 31, the movement of the connecting shaft 21 drives the resistance values at the two ends of the potentiometer 31 to change, and therefore, when the rotor moves relatively, the two ends of the potentiometer 31 also synchronously generate a changing voltage signal. By collecting and analyzing the two groups of electric signals of TENG and the potentiometer 31, vector displacement information of the stretching of the rope piece 22 can be obtained, the vector displacement information is transmitted to the mobile terminal, and the mobile terminal displays and records data, so that the sensing or monitoring of the movement of the spine or the joint of the limbs can be realized. The human body posture data can be acquired at any time, the precision is high, the adaptability is strong, the stability is good, and the research requirements are met.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.