CN2358435Y - Flexiable angular transducer - Google Patents
Flexiable angular transducer Download PDFInfo
- Publication number
- CN2358435Y CN2358435Y CN 99204996 CN99204996U CN2358435Y CN 2358435 Y CN2358435 Y CN 2358435Y CN 99204996 CN99204996 CN 99204996 CN 99204996 U CN99204996 U CN 99204996U CN 2358435 Y CN2358435 Y CN 2358435Y
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- flexible
- angle
- angular transducer
- sensor
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- 239000000463 material Substances 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 239000004020 conductor Substances 0.000 claims description 10
- 239000010409 thin film Substances 0.000 claims description 8
- 230000011664 signaling Effects 0.000 claims description 6
- 238000005538 encapsulation Methods 0.000 claims description 4
- 229920001169 thermoplastic Polymers 0.000 claims description 4
- 239000004416 thermosoftening plastic Substances 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims 1
- 239000002985 plastic film Substances 0.000 claims 1
- 238000005070 sampling Methods 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 2
- 239000005022 packaging material Substances 0.000 abstract 1
- 239000000835 fiber Substances 0.000 description 4
- 210000001145 finger joint Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
柔性角度传感器是一种具有良好柔性的角度敏感器件,可以与信号转换电路、A/D板卡以及计算机系统配合完成对给定角度的测量。本实用新型由薄膜式柔性力敏电阻、薄膜式扁平导线、辅助材料和封装材料等部分组成。将柔性角度传感器紧贴在被测角上,即可通过计算机采样系统完成对角度的测量工作。该传感器可以用于测量物体表面弯曲角度或两个物体之间的夹角,适用于对精度要求不太高但需要对角度进行连续和快速测量的场合。
Flexible angle sensor is a kind of angle sensitive device with good flexibility, which can cooperate with signal conversion circuit, A/D board and computer system to complete the measurement of a given angle. The utility model is composed of film-type flexible force-sensitive resistors, film-type flat wires, auxiliary materials, packaging materials and the like. The flexible angle sensor is attached to the measured angle, and the angle measurement can be completed through the computer sampling system. The sensor can be used to measure the bending angle of the surface of an object or the angle between two objects, and is suitable for occasions that do not require high precision but require continuous and rapid measurement of angles.
Description
The utility model is a kind of angular-sensitive device with good flexibility, can cooperate the measurement of finishing given angle with signaling conversion circuit, A/D integrated circuit board and computer system.
For data glove, the bend sensor of measurement user finger gesture and the development of abduction sensor are extremely important.The known several data glove and the bend sensor of use thereof are as follows with the abduction sensor situation: a) the data glove 5DT DATA GLOVE of the data glove Data glove of U.S. VPL company, Fifth Dimension Tech. company has adopted different optical fiber as bend sensor with the data glove that Beijing Institute of Technology develops.Fibre Optical Sensor has utilized the light of transmission when light transmitting fiber is crooked that loss will be arranged, and the characteristics that the light quantity of Optical Fiber Transmission is relevant with its degree of crook divide the light quantity of accepting to measure the angle of bend and the abduction state of finger by the detection fiber light accepting part.The major defect of this type of sensor is that illuminating circuit and light receiving detection circuit, systematic comparison complexity need be set specially.In addition, Fibre Optical Sensor also the phenomenon that fractures can occur after using the long period.B) EXOS data glove Dexterous Hard Master (DHM) adopts one and is fixed on user's outer skeleton structure on hand, and each joint of outer skeleton structure can be with the action campaign of user's hand.A hall device is installed, in order to measure a kind of angle of bend of pointing an abduction situation or a finger-joint on each joint of outer skeleton.The data glove that BJ University of Aeronautics ﹠ Astronautics develops has also adopted the outer skeleton structure that is similar to Dexterous Hand Master, but has adopted potentiometer to replace hall device as bend sensor and abduction sensor.The shortcoming that realizes bend sensor and abduction sensor in this way is that the structure of data glove is too complicated, uses very inconvenient.C) use among the data glove Cyberglove of U.S. Virtual Technology company and a kind ofly have the resistance-strain device of small size very as bend sensor and abduction sensor.Adopts the data glove of this sensor to use more convenient and have better performance, but shortcoming is selling at exorbitant prices that non-general R﹠D institution can bear.
It is good that the purpose of this utility model is to propose a kind of flexibility, and size is little, and cost is low, and reliable operation can be used as the flexible angular transducer that data glove bend sensor and abduction sensor use.Adopted should the flexibility angular transducer data glove have simple in structurely, easy to operate, cost is low, use characteristics such as reliable.
Technical essential of the present utility model is its basic structure as shown in Figure 1.
Compare with existing bend sensor, the flexible angular transducer itself that the utility model proposes has flexible good, and cost is low, is difficult for impaired, size such as can make as required at advantage, is very suitable for using as the bend sensor and the abduction sensor of data glove.In addition, because the flexible angular transducer that the utility model proposes is actually a resistance, so the structure of its signaling conversion circuit and sample circuit is also very simple.Compare with the data glove that adopts other sensor, it is simple in structure to have adopted the flexible angular transducer that the utility model proposes to have as the data glove of bend sensor and abduction sensor, and cost is low, in light weight, flexible and convenient to use, advantage such as reliability and durability has stronger practicality.
Description of drawings: Fig. 1 is flexible angular transducer structural drawing: 1-diaphragm type flat conductor, the 2-inner lead, 3-thin film flexible force sensing resistance, the 4-auxiliary material, the 5-encapsulating material, 6-outside lead Fig. 2 is the application system figure of flexible angular transducer in data glove: 1-bend sensor, 2-abduction sensor
Embodiment:
Fig. 2 has provided the systematic schematic diagram when the utility model is applied to data glove.
The utility model partly is made up of thin film flexible force sensing resistance, inner lead, outside lead, auxiliary material and encapsulating material etc., and size of devices can be made as required.Flexible angular transducer is close on the measured angle, can finishes surveying work by the computer sampling system.This sensor can be used for the angle between Measuring Object surface curvature angle or two objects, is applicable to accuracy requirement not too high but need carry out continuously and the occasion of measuring fast angle.It is that a plurality of flexible angular transducers are installed in composition data gloves on the gloves as bend sensor and abduction sensor respectively that a kind of typical case of the present utility model uses.When the user put on data glove, the computer sampling system can obtain the information of user's hand motion by each bend sensor and abduction sensor are detected, therefore can be by the action control operation object of hand.This data glove can be used for virtual reality system and teleoperation robot system.In virtual reality system, the effect of data glove is to carry out the instrument of real-time, interactive for the operator provides a kind of computing machine with the generation virtual environment; And in the teleoperation robot system, the main effect of data glove then is for the ease of the operator robot away from the scene to be carried out straighforward operation.
Concrete using method is as follows:
The flexible angular transducer that the utility model proposes is made into appropriate size according to the needs of data glove bend sensor and abduction sensor, and they are sewn on position relevant with hand deformationization with other with finger-joint on the gloves, as shown in Figure 2.Because data glove itself with there being certain flexible material to make, so when the operator puts on data glove, the each several part of gloves will be close to the operator on hand, thereby makes the flexible angular transducer that is sewn on the data glove also be close to the operator on hand.The corresponding variation will take place with the variation of operator's hand shape in the angle of bend of each flexible angular transducer.As shown in Figure 2, be sewn on the variation that the flexible angular transducer at 1 position can be measured the finger-joint angle, use as bend sensor; And the flexible angular transducer that is sewn on 2 position can be measured finger abduction situation, uses as the abduction sensor.Equally, flexible angular transducer can be installed in the respective change of other position measure operator hand shape of gloves.When the operator puts on data glove when carrying out grasp motion, the angle of bend of each flexible angular transducer will change with the variation of operator's hand shape, operator's hand shape difference, and the angle of bend of each flexible bending sensor is also with difference.Therefore, the sampling system that utilization is made up of signaling conversion circuit, A/D sampling integrated circuit board and computing machine is carried out continuous sampling to the output of each flexible angular transducer, just can obtain the data of operator's hand deformationization, and by operator's hand motion control related object.Because the flexible angular transducer that the utility model proposes has characteristics such as volume is little, in light weight, and flexible good cost is low, so it is low that the data glove made from this flexible angular transducer also has a cost, in light weight, flexible and convenient to use, have stronger characteristics such as practicality.
Claims (3)
1. flexible angular transducer of partly forming by angular-sensitive device, auxiliary material, encapsulating material and outside lead etc.; It is characterized in that the angular-sensitive device can be thin film flexible force sensing resistance and two diaphragm type flat conductors, the conductor part of the sensitive area of thin film flexible force sensing resistance and two diaphragm type flat conductors is close together, the packed material package of angular-sensitive device and auxiliary material together, two outside leads are connected with signaling conversion circuit, finish the measurement of angle by A/D integrated circuit board and computer system.
2. flexible angular transducer according to claim 1, it is characterized in that its inner lead and outside lead are same diaphragm type flat conductor, the part that the diaphragm type flat conductor is within the encapsulation is an inner lead, and the diaphragm type flat conductor is in the outside lead that part outside the encapsulation forms flexible angular transducer.
3. flexible angular transducer according to claim 1 is characterized in that its auxiliary material are resilient thin plastic sheets, and encapsulating material is a thermoplastic tube, adopts the heating process encapsulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99204996 CN2358435Y (en) | 1999-03-10 | 1999-03-10 | Flexiable angular transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99204996 CN2358435Y (en) | 1999-03-10 | 1999-03-10 | Flexiable angular transducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2358435Y true CN2358435Y (en) | 2000-01-12 |
Family
ID=33999644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99204996 Expired - Lifetime CN2358435Y (en) | 1999-03-10 | 1999-03-10 | Flexiable angular transducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2358435Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100433201C (en) * | 2005-09-08 | 2008-11-12 | 新普科技股份有限公司 | Method for manufacturing sheet-shaped flexible conductor |
| CN102858413A (en) * | 2010-04-13 | 2013-01-02 | 三星电子株式会社 | Virtual world processing device and method |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN104296651A (en) * | 2014-10-23 | 2015-01-21 | 东南大学 | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric |
| CN107014411A (en) * | 2017-04-05 | 2017-08-04 | 浙江大学 | A kind of flexible micro-nano fiber angle sensor chip and sensor and preparation method |
| CN107077207A (en) * | 2014-10-17 | 2017-08-18 | 雅马哈株式会社 | Data glove |
| CN110261012A (en) * | 2019-06-06 | 2019-09-20 | 东南大学 | A kind of Flexiable angular transducer and preparation method thereof |
| CN110362195A (en) * | 2019-06-10 | 2019-10-22 | 东南大学 | Gesture identification and interactive system based on bistable state coding and Flexiable angular transducer |
| CN110706545A (en) * | 2019-10-24 | 2020-01-17 | 西安交通大学医学院第二附属医院 | A Cardiology Surgery Simulation Training System |
| CN117128849A (en) * | 2023-09-05 | 2023-11-28 | 五邑大学 | A flexible bending sensor and measurement system |
| CN120467396A (en) * | 2025-07-15 | 2025-08-12 | 宁波中车时代传感技术有限公司 | A flexible Hall angle sensor and angle detection system |
-
1999
- 1999-03-10 CN CN 99204996 patent/CN2358435Y/en not_active Expired - Lifetime
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100433201C (en) * | 2005-09-08 | 2008-11-12 | 新普科技股份有限公司 | Method for manufacturing sheet-shaped flexible conductor |
| CN104281262B (en) * | 2010-04-13 | 2017-08-01 | 三星电子株式会社 | Method for the mutual action between virtual world and real world |
| CN102858413A (en) * | 2010-04-13 | 2013-01-02 | 三星电子株式会社 | Virtual world processing device and method |
| CN102858413B (en) * | 2010-04-13 | 2014-10-29 | 三星电子株式会社 | Virtual world processing device and method |
| CN104281262A (en) * | 2010-04-13 | 2015-01-14 | 三星电子株式会社 | A method of interacting between a real world and a virtual world |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| US10455874B2 (en) | 2014-10-17 | 2019-10-29 | Yamaha Corporation | Data glove |
| CN107077207A (en) * | 2014-10-17 | 2017-08-18 | 雅马哈株式会社 | Data glove |
| CN107077207B (en) * | 2014-10-17 | 2020-10-27 | 雅马哈株式会社 | data gloves |
| CN104296651B (en) * | 2014-10-23 | 2017-02-15 | 东南大学 | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric |
| CN104296651A (en) * | 2014-10-23 | 2015-01-21 | 东南大学 | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric |
| CN107014411A (en) * | 2017-04-05 | 2017-08-04 | 浙江大学 | A kind of flexible micro-nano fiber angle sensor chip and sensor and preparation method |
| CN110261012A (en) * | 2019-06-06 | 2019-09-20 | 东南大学 | A kind of Flexiable angular transducer and preparation method thereof |
| CN110261012B (en) * | 2019-06-06 | 2021-05-11 | 东南大学 | Flexible angle sensor and preparation method thereof |
| CN110362195A (en) * | 2019-06-10 | 2019-10-22 | 东南大学 | Gesture identification and interactive system based on bistable state coding and Flexiable angular transducer |
| CN110706545A (en) * | 2019-10-24 | 2020-01-17 | 西安交通大学医学院第二附属医院 | A Cardiology Surgery Simulation Training System |
| CN117128849A (en) * | 2023-09-05 | 2023-11-28 | 五邑大学 | A flexible bending sensor and measurement system |
| CN120467396A (en) * | 2025-07-15 | 2025-08-12 | 宁波中车时代传感技术有限公司 | A flexible Hall angle sensor and angle detection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |