柔性可穿戴的腕关节运动角度传感器

A Flexible Wearable Sensor for Monitoring Angles of Wrist Motion

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%and 0.53%,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.