柔性可穿戴的腕关节运动角度传感器
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摘要
为解决难以在柔性康复机器人上安装角度传感器的问题,设计了一种柔性可穿戴的腕关节掌屈运动角度传感器。基于光纤宏弯损耗原理,将光纤嵌入硅橡胶,构成柔性传感模块。硅胶模块与织物结合,组成测量腕关节掌屈运动的角度传感器。该传感器具有对温度不敏感,不受电磁干扰,成本低,不干扰柔性驱动器工作等优点。设计并制造该传感器,试验验证结果表明,硅胶模块在重复拉伸收缩运动时的重复性误差为1.42%、迟滞为1.39%、标定误差为0.53%。与传统的用量角器测量关节运动角度的方法比较,该传感器的测量误差更低,能够实现实时角度监测,与驱动器组成闭环控制,具有实际的应用价值。
A flexible wearable sensor for monitoring angles of wrist motion is proposed to combine a sensor more easily with the flexible rehabilitation robot.It is based on the principle of optical fiber macro-bending loss that a fiber is embedded in silicone rubber to form a flexible sensing module for measuring the angle of wrist flexion after waving.The sensor has the advantages of being insensitive to temperature,free from electrical interference,low cost,and not interrupting the operation of the flexible driver.Experiments verify that the repeatability error,the hysteresis and the calibration error of the measuring device are 1.42%,1.39% and0.53%,respectively.A comparison with a traditional method for measuring joint angle using protractor shows that the proposed sensor reduces measurement error,and can realize real-time angle monitoring and closed-loop control.
A flexible wearable sensor for monitoring angles of wrist motion is proposed to combine a sensor more easily with the flexible rehabilitation robot.It is based on the principle of optical fiber macro-bending loss that a fiber is embedded in silicone rubber to form a flexible sensing module for measuring the angle of wrist flexion after waving.The sensor has the advantages of being insensitive to temperature,free from electrical interference,low cost,and not interrupting the operation of the flexible driver.Experiments verify that the repeatability error,the hysteresis and the calibration error of the measuring device are 1.42%,1.39% and0.53%,respectively.A comparison with a traditional method for measuring joint angle using protractor shows that the proposed sensor reduces measurement error,and can realize real-time angle monitoring and closed-loop control.
引文
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[2]徐永清,钟世镇,朱青安,等.正常腕关节运动学的实验研究[J].西藏医药,1999,21(S1):173-175.XU Yongqing,ZHONG Shizhen,ZHU Qingan,et al.A kinematic study of normal wrist[J].Tibetan Medicine,1999,21(S1):173-175.
[3]王依晴,谢叻,洪武洲.腕部康复机器人助动训练的力反馈控制[J].上海交通大学学报,2018,52(1):70-75.WANG Yiqing,XIE Le,HONG Wuzhou.Force feedback control for assistive mode training of the wrist rehabilitation robot[J].Journal of Shanghai Jiaotong University,2018,52(1):70-75.
[4]黄明,黄心汉,温月,等.便携式二自由度腕关节康复机器人设计[J].华中科技大学学报(自然科学版),2013,41(S1):329-331.HUANG Ming,HUANG Xinhan,WEN Yue,et al.Design for portable 2-DOF wrist joints rehabilitation robot[J].Journal Huazhong University of Science and Technology(Natural Science Edition),2013,41(S1):329-331.
[5]宋金雪.机器人光纤阵列皮肤感知机理及实验研究[D].济南:山东大学,2016:1-2.
[6] CASTIELLO U.The neuroscience of grasping[J].Nature Reviews Neuroscience,2005,6(9):726-736.
[7] WEI X,ZHANG P,CHAI J.Accurate realtime fullbody motion capture using a single depth camera[J].ACM Transactions on Graphics,2012,31(6):1-12.
[8]王嘉锋.基于人体运动传感的个人定位方法及系统的实现[D].杭州:浙江大学,2011:15-18.
[9]曾腾辉,卢健涛.浅析Vicon MX三维动作捕捉系统在健身器人机学运动分析中的应用[C]∥2009年国际工业设计研讨会暨第十四届全国工业设计学术年会论文集.北京:中国机械工程学会,2009:73-78.
[10]胡超,葛云,陈颖.人体关节活动度测量系统[J].中国医药物理学杂志,2016,33(1):34-38.HU Chao,GE Yun,CHEN Ying.Measurement system for human joint range of motion[J].Chinese Journal of Medical Physics,2016,33(1):34-38.
[11]DIPIETRO L,SABATINI A M,DARIO P.A Survey of Glove-based systems and their applications[J].IEEE Transactions on Systems Man&Cybernetics:Part C,2008,38(4):461-482.
[12]STURMAN D J,ZELTZER D.A survey of glovebased input[J].IEEE Computer Graphics&Applications,1994,14(1):30-39.
[13]KIM J H,THANG N D,KIM T S.3-D hand motion tracking and gesture recognition using a data glove[C]∥IEEE International Symposium on Industrial Electronics.Piscataway,NJ,USA:IEEE,2009:1013-1018.
[14]HAN Y.A low-cost visual motion data glove as an input device to interpret human hand gestures[J].IEEE Transactions on Consumer Electronics,2010,56(2):501-509.
[15]刘佳,郑勇,张小瑞,等.基于Kinect的手势跟踪概述[J].计算机应用研究,2015,32(7):1921-1925.LIU Jia,ZHENG Yong,ZHANG Xiaorui,et al.Overview of hand gesture tracking based on Kinect[J].Application Research of Computers,2015,32(7):1921-1925.
[16]FRAZOO.Design and characterization of a wearable macrobending fiber optic sensor for human joint angle determination[J]. Optical Engineering,2013,52(12):992-999.
[17]SAREH S,NUH Y,LI Min,et al.Macrobend optical sensing for pose measurement in soft robot arms[J].Smart Materials and Structures,2015,24(12):125024.
[18]GRILLET A,KINET D,WITT J,et al.Optical fiber sensors embedded into medical textiles for healthcare monitoring[J].Sensors Journal,2008,8(7):1215-1222.
[19]BACK J,DASGUPTA P,SENEVIRATNE L,et al,Feasibility study-novel optical soft tactile array sensing for minimally invasive surgery[C]∥IEEE International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2015:1528-1533.
[20]XIE Hui,LIU Hongbin,LUO Shan,et al.Fiber optics tactile array probe for tissue palpation during minimally invasive surgery[C]∥IEEE International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2014:2539-2544.