面向人机姿态检测的柔性传感材料研究

随着可穿戴机器人的发展，柔性外骨骼正逐渐走入大众生活，在医学 领域、科学技术、军事领域也越来越广泛应用。基于刚性物理传感器的人 机交互面临人机耦合程度低、生物相容性差等问题，这些限制了可穿戴机 器人的应用。可穿戴性更强的柔性外骨骼一般不能附带太多刚性结构，而 柔性可拉伸电容传感器作为一种感知人体意图、获取关节运动姿态信息的 传感材料，具有良好的生物相容性、和人体的耦合性，它的各项特征很好 地契合可穿戴外骨骼的需求。为了ᨀ高外骨骼的适应性和可调节性，文中 研制了一套面向外骨骼的可检测关节姿态信息的柔性传感系统。论文主要 内容为： 设计制作了一种具有良好的线性度、快速响应性等特征的电容式柔性 可拉伸压力传感器；通过数学模型建立和表征了电容和角度之间的关系， 探究了传感器拉伸变形产生的电容信号变化与人体运动姿态之间的机制； 通过实验结果和实际角度之间的对比分析，对传感器的实际表现进行了评 估，拟合得到的函数关系的回归平方和与总离差平方和的比值 R2 为 0.9751， 拟合效果较好，角度偏差在 3°-5°范围内，而且实际监测得到的角度曲线 大部分误差也在 8°-10°范围内；搭建了基于柔性可穿戴外骨骼的柔性可 穿戴传感系统，初步实现了传感系统在外骨骼上的集成，在完成参数调整 和驱动电机匹配后进行了步态行走，评估了传感器在辅助外骨骼实现关节 助力时的效果。

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