Multi-dimensional force sensor and novel self-adaptive flexible exoskeleton man-machine interface thereof

Abstract

The invention discloses a multi-dimensional force sensor and a novel self-adaptive flexible exoskeleton man-machine interface thereof. The man-machine interface comprises a first arc-shaped plate surface, a connecting piece, a second arc-shaped plate surface and a bandage which are sequentially connected end to end to form an annular structure. The first arc-shaped plate surface can rotate outwards relative to the connecting piece with an elastic shaft as the axis. A plurality of multi-dimensional force sensors are evenly distributed on the inner wall of the first arc-shaped plate surface, andthe second arc-shaped plate surface and the first arc-shaped plate surface are the same in structure and connection manner. A through carbon fiber tube mounting hole is longitudinally formed in the connecting piece, and an air nozzle is further arranged on the connecting piece. According to the multi-dimensional force sensor and the novel self-adaptive flexible exoskeleton man-machine interface thereof, an inflatable airbag unit made of a silica gel material is used as a flexible device of a man-machine physical interface, the geometrical shape and the contact pressure of the man-machine interface are dynamically adjusted through inflation and deflation, the sensor made of liquid metal is used for improving the sensing function for the airbag so that the airbag can detect the deformationof the airbag and the pressure on a contact surface, and sensing data are provided for upper-layer control.

Description

technical field [0001] The invention belongs to the field of wearable sensors, in particular to a multi-dimensional force sensor and a novel self-adaptive flexible exoskeleton man-machine interface. Background technique [0002] Exoskeleton robots are mechanical devices worn on the human body to enhance the wearer's motor functions. It is a special robot that needs to complete tasks with people, so it needs to pay more attention to its human-computer interaction ability than ordinary robots. One of the most important aspects of the human-computer interaction of the exoskeleton is the physical interface between the exoskeleton and the human connection. [0003] The human body is surrounded by soft tissue, and the traditional rigid body connection cannot be used to fix the human body and exoskeleton. Exoskeletons currently on the market generally use flexible bushings, nylon adhesive tapes or nylon straps to connect people and exoskeletons. These connection methods require ...

AI Technical Summary

Problems solved by technology

Since the elastic force of the flexible material is related to the amount of deformation, when it encounters muscle tissue with high stiffness, it will produce a large amount of compression deformation, and when it encounters adipose tissue with low stiffness, the amount of compression will become smaller, so that Generates large pressure peaks on part of the thigh surface, which affects wearing comfort

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