介电弹性体软传感器优化及在人体上肢运动测量中的应用

发布时间：2018-06-20 05:51

本文选题：可穿戴式传感器 + 软传感器　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：近年来,在外骨骼、人机交互和运动康复等领域对于人体动作捕捉的需求变得越来越多。尽管,目前已经存在一些装置能够进行人体动作捕捉,但其环境适应性、穿戴舒适性和测量准确性等方面存在不足。介电弹性体传感器柔软、轻质,可直接穿戴,能较好地克服上述缺点。因此,本文在对实验室原有的介电弹性体传感器进行性能优化的基础上,将其用于人体腕关节、肘关节和肩关节的运动测量,其主要研究内容如下。对在实验过程中发现的电容松弛现象进行了研究与分析。电容松弛现象指的是,在恒定的拉伸状态下介电弹性体传感器的电容会随着时间而下降。这种现象在传感器的使用过程中会严重影响其检测精度,为此本文对其展开了相关研究,分析了这种现象的影响因素及可能的原因。并给出了减小电容松弛的方法,用来减小其对传感器检测精度的影响。对实验室原有传感器存在的一些问题,本文提出了相应的解决方法。具体包括:针对薄膜制备易有缺陷的问题,提出了在洁净间进行薄膜制备的解决方法;针对保护层厚度不均匀的问题,提出了氧等离子粘结的解决方法;针对检测电路存在空间电磁干扰的问题,提出了一种数字滤波的解决方法。为了制作出性能优良的传感器来检测人体关节运动,本文提出了一些相关设计方案来指导传感器的设计,并通过实验对这些方案进行了验证。在此基础之上,对传感器的一些性能参数进行了测试,如线性度、迟滞、灵敏度等。在人体上肢运动测量方面,针对腕关节、肘关节和肩关节各个关节运动的特点,设计了相应的传感器。并将其穿戴在人体上,对关节的各分运动进行了测量。为提高检查精度,给出了腕关节运动、肩关节运动测量的解耦方法。
[Abstract]:In recent years, there are more and more demands for human motion capture in exoskeleton, human-computer interaction and motor rehabilitation. Although there are some devices that can capture human motion at present, there are some shortcomings in their environmental adaptability, wear comfort and measurement accuracy. Dielectric elastomer sensor is soft, light and can be worn directly. Therefore, on the basis of optimizing the performance of the original dielectric elastomer sensor in laboratory, this paper uses it to measure the motion of wrist, elbow and shoulder. The main research contents are as follows. The phenomenon of capacitor relaxation found in the experiment is studied and analyzed. The phenomenon of capacitive relaxation is that the capacitance of dielectric elastomer sensor decreases with time under constant tensile condition. This phenomenon will seriously affect the detection accuracy in the process of using the sensor. Therefore, this paper has carried out a related study, and analyzed the influencing factors and possible causes of this phenomenon. The method of reducing capacitance relaxation is given to reduce the influence of capacitance relaxation on sensor detection accuracy. Some problems existing in the original sensors in the laboratory are solved in this paper. The main contents are as follows: aiming at the defect of thin film preparation, the solution of thin film preparation in clean room is put forward, and the solution of oxygen plasma bonding is put forward to solve the problem of uneven thickness of protective layer. In order to solve the problem of space electromagnetic interference (EMI) in the detection circuit, a digital filtering method is proposed. In order to produce sensors with good performance to detect the motion of human joints, this paper proposes some related design schemes to guide the design of sensors, and verifies these schemes through experiments. On this basis, some performance parameters of the sensor are tested, such as linearity, hysteresis, sensitivity and so on. According to the characteristics of wrist, elbow and shoulder joints, a sensor is designed for the measurement of human upper limb motion. The joint motion was measured by wearing it on the human body. In order to improve the inspection accuracy, the decoupling method of wrist motion and shoulder motion measurement is presented.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R318;TP212

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