CN107015661A - Sensing based on the carbon nano-tube film data glove integrated with driving - Google Patents

Abstract

The invention discloses a data glove integrated with sensing and driving based on carbon nanotube film, which comprises a glove body made of elastic material, and carbon nanotube film, dielectric The elastomer film and the flexible electrode film also include: a deformation monitor, which is embedded in the carbon nanotube film, monitors the deformation of the carbon nanotube film on the back side of each finger, analyzes and processes it, and obtains gesture posture data; a high-voltage circuit , the two poles are respectively connected to the carbon nanotube film and the flexible electrode film; the wireless communication module transmits the gesture data obtained by the deformation monitor to the host computer, receives the driving signal sent by the host computer and sends it to the high-voltage circuit; the power supply is used for deformation monitoring device, wireless communication module, and high-voltage circuit power supply. The data glove does not need external sensors, realizes the self-sensing of the data glove itself, and realizes the integration of sensing and driving at the same time.

Description

Data glove integrated with sensing and driving based on carbon nanotube film

technical field

The invention relates to the field of soft material sensing and drive control, in particular to a data glove based on carbon nanotube film that integrates sensing and drive.

Background technique

With the rapid development of human science and technology and the substantial increase in productivity, many emerging high-tech products have emerged, permeating people's life, work, entertainment and other fields. Different from the past, all kinds of new products today, driven by the interdisciplinary promotion, have begun to show the characteristics of diversification, high technology, and convenience. Among them, virtual reality and its smart devices are representative of the above-mentioned characteristics of this era, and have appeared in all aspects of people's daily life in a blowout style in recent years.

Virtual reality technology refers to the use of computers and related technologies to create a digital environment that is highly similar in terms of vision, hearing, and touch. Users can use relevant smart devices to interact with and influence each other. Virtual reality technology provides people with a learning environment. And a platform to understand nature.

Virtual reality technology can provide a diverse virtual world. Users can perceive and change this virtual world through physical actions, which has a strong sense of immersion. In this virtual world, smart devices are tools for direct interaction with it and support virtual reality. The most important component of real technology. The smart devices involved in virtual reality technology mainly include the following categories: smart glasses, holographic helmets, smart earplugs and other head smart wearable devices, smart gloves, bracelets, watches and other hand smart wearable devices, smart coats and smart shoes, etc. smart device.

The human hand is the main organ for the human body to communicate with the outside world. It can transmit a variety of posture information. As an information output organ, the human hand has the characteristics of various types of information that can be transmitted, a large amount of information, and strong mapping capabilities. Therefore, hand-worn devices are equipped with A large number of smart wearable devices have been designed. Among all kinds of smart wearable devices for hands, data gloves have great development and research potential because they can make full use of hand posture information.

In the existing data glove technology, in order to obtain the movement information of the human hand, one way is to use the visual system to recognize the movement of the human hand. But at present, the calculation of this method is too complicated, the stability and accuracy are relatively low, and the operating conditions required are too high, so it is not suitable for general situations. In addition to visual system feedback, some commercial data gloves have emerged in recent years, such as VPL's Dataglove, Matal's PowerGlove, Immersion's CyberGlove, Sarcos' EXOS gloves, etc. These glove-type control input devices can be roughly divided into two categories: ① Joint position sensors (optical fibers, metal strain gauges, etc.) are attached to gloves to measure joint motion, such as DataGlove, cyberGlove, etc. The advantage of this type of data glove is that it is light in weight and is very convenient for the operator to wear and use. The main disadvantage is that the position of the sensor will slip when worn by different operators, and the angle measured by the joint sensor needs to be calibrated to meet the requirements of the operation; ②Mechanical The connecting rod structure drives joint sensors such as potentiometers to measure joint motion, such as EXOS from SarCoS. This type of glove integrates input control and force feedback devices, but the development is complicated and there is no commercialization. At the same time, the above two types of methods for obtaining finger information all use external sensors, such as optical fibers, strain gauges or potentiometers, etc., and do not realize self-sensing of the glove itself. At the same time, the power sources required for current drivable auxiliary data gloves can be mainly divided into the following two categories: (1) Pneumatic, using an air pump to inflate the glove to drive the glove. The main disadvantage of this method is that the device needs to be carried at any time. There is an air pump, which is inconvenient to carry around; (2) motor drive, using a servo motor to play a driving role. The disadvantage of this method is that the drive noise of the motor is large, and it is a hard material, which cannot be generally applied to various situations.

Contents of the invention

The invention provides a data glove based on a carbon nanotube film that integrates sensing and driving. The data glove does not need an external sensor, realizes the self-sensing of the data glove itself, and simultaneously realizes the integration of sensing and driving.

A data glove integrated with sensing and driving based on a carbon nanotube film, comprising a glove body made of elastic material, the outer surface of the finger back side of the glove body is sequentially attached with a carbon nanotube film, a dielectric elastomer Films and flexible electrode films, also including:

The deformation monitor is embedded in the carbon nanotube film on the back side of each finger of the glove body, monitors the deformation of the carbon nanotube film on the back side of each finger and performs analysis and processing to obtain gesture posture data;

A high-voltage circuit, the two ends of which are respectively connected to the carbon nanotube film and the flexible electrode film, and adjust the amplitude and frequency of the voltage output by the two poles according to the driving signal sent by the wireless communication module;

The wireless communication module transmits the gesture and posture data obtained by the deformation monitor to the host computer, receives the driving signal sent by the host computer and sends it to the high-voltage circuit;

The power supply supplies power for the deformation monitor, the wireless communication module and the high voltage circuit.

The deformation monitor embedded in the carbon nanotube film on the back side of each finger of the glove body is the sensing part of the data glove of the present invention, and the gesture posture data is obtained by monitoring the deformation of the carbon nanotube film on the back side of each finger. Realize the self-sensing function of the data glove of the present invention; the carbon nanotube film, the dielectric elastomer film and the flexible electrode film adhered to the outer surface of the glove body in turn form a driving film, which is the driving part of the data glove of the present invention. The amplitude and frequency of the voltage output by the two poles of the circuit are used to control the amplitude and frequency of the driving film, so as to realize the driving function of the data glove of the present invention.

The high-voltage circuit is an oscillation circuit of 6kV-9kV obtained by oscillating and stabilizing a low-voltage power supply.

Preferably, the deformation monitor includes:

A plurality of potential collection points are embedded in the carbon nanotube film on the back side of each finger of the glove body, and a plurality of potential collection points located on the back side of the same finger are connected in series between the two poles of the power supply;

The processor collects potential data at each potential collection point at different times, and analyzes and obtains corresponding gesture data at different times.

Each potential collection point can be a copper foil disc, which is drawn out through thin wires and connected to the processor.

Multiple potential collection points located on the back of the same finger are connected in series between the two poles of the power supply, and the potential data at each potential collection point at different times are collected, and the calculation can be obtained between two adjacent potential collection points located on the back of the same finger at different times. Through the calculation of the trained BP neural network, the bending angle of each finger can be obtained, and the gesture posture data at the corresponding moment can be obtained by analysis.

Preferably, the potential collection points are respectively located at the phalanges or metacarpals of each finger. In this way, the bending of each finger joint can cause the length stretching between the corresponding two adjacent potential collection points on the back of the finger, thereby causing the resistance of the carbon nanotube film between the two adjacent potential collection points to change. In turn, the potential difference between two adjacent potential collection points changes, the bending angle of the corresponding finger joint can be accurately deduced through the deformation monitor, and the subtle movement of the hand or finger can be detected, so that the analyzed gesture data more precise.

The deformation recovery ability of the carbon nanotube film determines the accuracy of the deformation monitor. As a preference, the preparation method of the carbon nanotube film is: polydimethylsiloxane with a mass ratio of 20:1:1～2 Alkane (PDMS): curing agent: carbon nanotubes are dissolved in tetrahydrofuran, uniformly coated on the outer surface of the back of the hand of the glove body, and dried at 80°C to obtain a carbon nanotube film.

The curing agent is a curing agent compatible with polydimethylsiloxane (PDMS). For example: Polydimethylsiloxane and curing agent are SYLGARD 184 supporting products produced by Dow Corning.

Polydimethylsiloxane (PDMS) has high elasticity and is a good matrix for carbon nanotubes. After mixing with carbon nanotubes in a mass ratio of 20:1-2, it forms a suspension, and then mixes with polydimethylsiloxane After mixing the curing agent matched with alkane (PDMS) in a certain proportion, the obtained suspension is evenly coated on the substrate of the dielectric elastomer, and dried at 80°C. The carbon nanotube film prepared in this way , with the high elasticity of polydimethylsiloxane (PDMS) and the conductivity of carbon nanotubes, it can be used as a high-precision distributed resistance sensor. At the same time, since the mixed solution is dried at 80°C, a stable dielectric high-elastic polymer can be formed. The carbon nanotube film made in this way has small drift deviation in multiple tests, can be used many times, and has good repeatability.

Preferably, the flexible electrode film is a carbon nanotube film.

The carbon nanotube film has good deformation recovery ability. After the deformation force is removed, the carbon nanotube film can be well restored to its original shape, prolonging the service life of the data glove.

The data glove of the present invention has two working modes, that is, the sensing working mode and the driving working mode. As a preference, the data glove based on carbon nanotube film sensing and driving integration of the present invention also includes:

Relay, to connect the deformation monitor to the power supply or to connect the high-voltage circuit to the power supply;

The controller receives the working mode switching signal of the upper computer, and selects to connect the deformation monitor to the power supply or the high-voltage circuit to the power supply through the relay.

When the relay connects the deformation monitor to the power supply, the data glove of the present invention is in the sensing working mode, and when the high-voltage circuit is connected to the power supply, the data glove of the present invention is in the driving working mode, and the switching between the two working modes is realized through the controller.

The carbon nanotube film, dielectric elastomer film and flexible electrode film adhered to the outer surface of the glove body in turn form the driving film. After the user puts the data glove on the hand, the dielectric elastomer film is in equibiaxial pre-stretching State, preferably, the thickness of the dielectric elastomer film before biaxial pre-stretching is 0.5 to 1.5 mm, and the biaxial pre-stretching value is 100% to 150%.

The equibiaxial pre-stretching value of the dielectric elastomer film can adjust the sensitivity of the dielectric elastomer to voltage, and can adjust the deformation of the dielectric elastomer under the same pressure. Most preferably, the dielectric elastomer film has an equibiaxial prestretch value of 120%.

Preferably, the dielectric elastomer film is polyacrylic acid film, silicon rubber film, pyrrolidone ethyl acrylate film or oxamate film.

Different materials can be selected according to different working conditions: in the case of relatively slow pressure changes, polyacrylic film should be selected; in the working environment with high ambient temperature, silicon rubber film should be selected; Use pyrrolidone ethyl acrylate film; in oily workplaces, you can choose urethane film.

The high voltage of the high-voltage circuit of the present invention is obtained by oscillating and stabilizing a low-voltage power supply. Although the voltage is relatively high, reaching 6kV to 9kV, the current passing through the high-voltage circuit is very small, which is safe for the human body. However, in order to prevent electric shock, the flexible electrode film is preferably passed through The wire is connected with the ground terminal of the high-voltage circuit, and the carbon nanotube film is connected with the anode of the high-voltage circuit through the wire.

Compared with prior art, the beneficial effect of the present invention is:

The gesture posture sensing part of the data glove of the present invention is integrated with the driving part, and the structure is simple; the data glove is a fully flexible structure as a whole, which can perfectly fit the shape of the hand; the driving voltage of the sensing part is low, and the driving voltage of the driving part is high, However, it is obtained through low-voltage power supply oscillation and voltage stabilization. Although the voltage is high, the current through the high-voltage circuit is very small. The high-voltage and low-current control mode reduces the power consumption of the device, reduces heat generation, can work for a long time, and realizes real-time monitoring. .

Description of drawings

Fig. 1 is the schematic diagram of the back side of the data glove based on the sensing and driving integration of the carbon nanotube film of the present invention;

Fig. 2 is a schematic cross-sectional view of the back of the hand of the data glove based on carbon nanotube film with integrated sensing and driving of the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

As shown in Fig. 1, the data glove of the present invention is designed according to the palm size of a normal adult.

As shown in FIGS. 1 and 2 , the glove body 1 of the data glove of the present invention is made of a dielectric elastomer film, and the size is suitable for human hands to wear. A first carbon nanotube film 2 , a dielectric elastomer film 3 and a second carbon nanotube film 4 are sequentially adhered to the outer surface of the back of the hand of the glove body 1 .

The material of the glove body 1 and the dielectric elastomer film 3 is VHB4910. After the data glove is made, the thickness of the glove body 1 and the dielectric elastomer film 3 is 1 mm. The bulk films 3 are all in the state of equibiaxial prestretching, and the equibiaxial prestretching value is 120%.

A first carbon nanotube film 2 is sandwiched between the glove body 1 and a dielectric elastomer film 3 , and a second carbon nanotube film 4 is adhered to the outer surface of the dielectric elastomer film 3 . Dissolve polydimethylsiloxane (PDMS) with a mass ratio of 20:1:1: curing agent: carbon nanotubes in tetrahydrofuran, evenly coat the outer surface of the back of the hand side of the glove body 1, and bake at 80°C. dry to obtain the first carbon nanotube film 2; paste a layer of dielectric elastomer film 3 on the outer surface of the first carbon nanotube film 2, polydimethylsiloxane (polydimethylsiloxane ( PDMS): curing agent: carbon nanotubes are dissolved in tetrahydrofuran, uniformly coated on the outer surface of the dielectric elastomer film 3, and dried at 80° C. to obtain the second carbon nanotube film 4 . Polydimethylsiloxane and curing agent are SYLGARD 184 supporting products produced by Dow Corning.

The first carbon nanotube film 2 and the second carbon nanotube film 4 are respectively connected to the positive electrode and the ground terminal of the high-voltage circuit, and the first carbon nanotube film 2, the dielectric elastomer film 3 and the second carbon nanotube film 4 form a drive The dielectric elastomer film 3 is vibrated by outputting a high-frequency voltage through the high-voltage circuit, and the amplitude and frequency of the vibration of the dielectric elastomer film 3 are controlled by adjusting the amplitude and frequency of the output voltage of the high-voltage circuit.

The high voltage of the high-voltage circuit is obtained by oscillating and stabilizing the low-voltage power supply, and the high voltage is as high as 6kV to 96kV.

The data glove realizes its driving function through the first carbon nanotube film 2 , the dielectric elastomer film 3 , the second carbon nanotube film 4 and a high-voltage circuit.

There are 19 copper foil discs 6 embedded in the first carbon nanotube film 2. As potential collection points, the 19 copper foil discs 6 are respectively located at the phalanges or metacarpals of each finger. Between the foil discs 6 are finger joints. Multiple potential collection points located on the back of the same finger are connected in series between the two poles of the power supply. Each copper foil disc 6 is led out by a thin wire and connected to the processor. The processor collects the potential data at each potential collection point at different times, and calculates The resistance change between two adjacent potential collection points located on the back of the same finger at different times can be obtained, and the bending angle of each finger can be obtained through the calculation of the trained BP neural network, and the gesture posture data at the corresponding time can be obtained by analysis. The obtained gesture and posture data is transmitted to the host computer through the 2.4G wireless communication module to realize the sensing function of the data glove.

Therefore, the data glove of the present invention has two working modes of sensing and driving.

The data glove is also equipped with a relay and a controller. The controller receives the working mode switching signal of the upper computer, and selects the sensing working mode or the driving working mode through the relay.

The working principle of the sensor and drive integrated data glove based on carbon nanotube film of the present invention is as follows:

In the driving mode, opposite charges are applied to the first carbon nanotube film 2 and the second carbon nanotube film 4 on both sides of the dielectric elastomer film 3 through a high-voltage circuit, that is, positive charges are added to the first carbon nanotube film 2 , the second carbon nanotube film 4 is negatively charged, and an attractive force is generated between the two carbon nanotube films. The pre-stretched dielectric elastomer film 3 becomes thinner, the area increases, and the overall effect is to stretch out; at the same time, the charges on the first carbon nanotube film 2 repel each other, so that the first carbon nanotube film 2 each A repulsive force is generated between the parts, and a repulsive force is also generated between the parts of the second carbon nanotube film 4 in the same way, because the first carbon nanotube film 2 and the second carbon nanotube film 4 are directly attached to the dielectric elastomer film 3, so its effect also makes the dielectric elastomer film 3 stretch; and after the dielectric elastomer film 3 is made into the shape of a glove, it is in a pre-stretched state when worn on the hand and has resilience, fixed by the wrist and The limitation of the internal fingers reaches a balanced state. After the power is turned on, the dielectric elastomer film 3 stretches. After the power is turned off, the dielectric elastomer film 3 shrinks back to the initial state, and the high-frequency pulse voltage is provided through the high-voltage circuit to achieve the drive of vibration. Effect;

In the sensing working mode, each copper foil disc on the same finger is connected in series with both ends of the power supply through the first carbon nanotube film 2 to form a series circuit; each finger forms a parallel circuit. When the joint of the finger is bent, the first carbon nanotube film 2 is stretched, and the resistance between the copper foil discs on both sides of the joint is changed, so that the potential difference between the two adjacent copper foil discs also changes. , by collecting the potential of the copper foil disc, the bending action of each finger joint can be obtained through the reverse calculation of the processor, so as to obtain the gesture and posture data of the entire hand, and realize the self-sensing effect of the data glove.

The embodiments described above have described the technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. All within the scope of the principles of the present invention Any modifications, supplements and equivalent replacements should be included within the protection scope of the present invention.

Claims (8)

1. A data glove based on the integration of sensing and driving of carbon nanotube film, comprising a glove body made of elastic material, characterized in that, the outer surface of the finger back of the glove body is successively attached with carbon nanotubes Films, Dielectric Elastomer Films and Flexible Electrode Films, also including: The deformation monitor is embedded in the carbon nanotube film on the back side of each finger of the glove body, monitors the deformation of the carbon nanotube film on the back side of each finger and performs analysis and processing to obtain gesture posture data; A high-voltage circuit, the two ends of which are respectively connected to the carbon nanotube film and the flexible electrode film, and adjust the amplitude and frequency of the voltage output by the two poles according to the driving signal sent by the wireless communication module; The wireless communication module transmits the gesture and posture data obtained by the deformation monitor to the host computer, receives the driving signal sent by the host computer and sends it to the high-voltage circuit; The power supply supplies power for the deformation monitor, the wireless communication module and the high voltage circuit. 2. The data glove based on the sensing and driving integration of the carbon nanotube film according to claim 1, wherein the deformation monitor comprises: A plurality of potential collection points are embedded in the carbon nanotube film on the back side of each finger of the glove body, and a plurality of potential collection points located on the back side of the same finger are connected in series between the two poles of the power supply; The processor collects potential data at each potential collection point at different times, and analyzes and obtains corresponding gesture data at different times. 3 . The data glove integrated with sensing and driving based on a carbon nanotube film according to claim 2 , wherein the potential collection points are respectively located at the phalanges or metacarpals of each finger. 4 . 4. The data glove based on the sensing and driving integration of carbon nanotube film according to claim 1 or 2, characterized in that, the preparation method of the carbon nanotube film is: the mass ratio is 20:1 : 1-2 polydimethylsiloxane: curing agent: carbon nanotubes are dissolved in tetrahydrofuran, uniformly coated on the outer surface of the back of the hand side of the glove body, and dried at 80° C. to obtain a carbon nanotube film. 5 . The data glove integrated with sensing and driving based on a carbon nanotube film according to claim 1 , wherein the flexible electrode film is a carbon nanotube film. 6 . 6. The data glove based on the sensing and driving integration of carbon nanotube film according to claim 1 or 2, characterized in that, it also includes: Relay, to connect the deformation monitor to the power supply or to connect the high-voltage circuit to the power supply; The controller receives the working mode switching signal of the upper computer, and selects to connect the deformation monitor to the power supply or the high-voltage circuit to the power supply through the relay. 7. The data glove based on the sensing and driving integration of carbon nanotube film according to claim 1, characterized in that, after the data glove is worn on the hand, the dielectric elastomer film is in equibiaxial pre-stretching State, the thickness of the dielectric elastomer film before biaxial pre-stretching is 0.5-1.8 mm, and the bi-axial pre-stretching value is 100% to 150%. 8. the data glove based on the sensing and driving integration of carbon nanotube film according to claim 1, is characterized in that, described dielectric elastomer film is polyacrylic acid film, silicone rubber film, acrylic acid pyrrolidone Ester film or urethane film.