Flexible force sensor capable of sensing muscle hardness and muscle hardness detection method

Abstract

The invention discloses a flexible force sensor capable of sensing muscle hardness and a muscle hardness detection method in the field of sensors. The flexible force sensor comprises a flexible circuit board, the surface of the flexible circuit board is provided with a force sensing module, the force sensing module comprises a plurality of micro-airbags, and gas sensitive elements are packaged in inner cavities of the micro-airbags. A force sensing contact for sensing muscle hardness is formed on the outer side, facing the muscle, of each micro air bag, and the gas sensitive element is electrically connected with the flexible circuit board. The elastic bandage is fixed to the limb, the flexible force sensor makes contact with the human body and keeps relatively fixed, the muscle hardness state of the human body is changed, and the air sensitive element can obtain the changed air pressure value of the inner cavity of the micro air bag based on the stress of the force sensing contact. The flexible force sensor is easy to wear, force touch matrix information of human muscles can be obtained through the array type force contacts, and accurate muscle state information can be obtained by combining a corresponding machine learning method.

Description

technical field [0001] The invention relates to the field of sensors, in particular to a flexible force sensor capable of sensing muscle hardness and a method for detecting muscle hardness. Background technique [0002] With the rapid development of the field of artificial intelligence in the 21st century, the fusion robot with the theme of "man-machine-environment" ushers in a major development opportunity. Human muscle contraction originates from an excitation-contraction coupling mechanism. By measuring muscle stiffness, important information such as human movement intention and muscle health can be extracted, and then used for human-computer interaction control of robots. [0003] At present, there are many ways to obtain muscle hardness information: palpation is the traditional acquisition method, and doctors feel the hardness changes by pressing muscles with hands, which is highly subjective and cannot obtain quantitative information; ultrasonic shear wave imaging equi...

AI Technical Summary

Problems solved by technology

[0003] At present, there are many ways to obtain muscle hardness information: palpation is the traditional method, and doctors can feel the hardness changes by pressing muscles with hands, which is highly subjective and cannot obtain quantitative information; ultrasonic shear wave imaging equipment can Quantitatively obtain muscle state information, but the equipment is bulky and not suitable for human-computer interaction interface; the Estonian MyotonPro digital palpation instrument applies excitation to the muscle, and obtains the biomechanical characteristics such as muscle hardness and elasticity according to its forced vibration signal, but the The equipment is very expensive and requires handheld measurement, which has poor versatility

At this stage, the sensors that can be applied to muscle hardness measurement are mostly composed of rigid structures or hard materials, with only a single force contact point. This type of structure is poor in wearability, and there will be obvious discomfort during use. It will compress the muscles and cause abnormal deformation, making the acquisition signal inaccurate

Images