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WO2016044251A1 - Procédé et système de mesure de position d'articulation - Google Patents

Procédé et système de mesure de position d'articulation Download PDF

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Publication number
WO2016044251A1
WO2016044251A1 PCT/US2015/050153 US2015050153W WO2016044251A1 WO 2016044251 A1 WO2016044251 A1 WO 2016044251A1 US 2015050153 W US2015050153 W US 2015050153W WO 2016044251 A1 WO2016044251 A1 WO 2016044251A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
articulation
sensing system
sensing element
stretchable material
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2015/050153
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English (en)
Inventor
Robert J. Wood
Daniel Martin VOGT
Frank L. HAMMOND III
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Harvard University
Original Assignee
Harvard University
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Filing date
Publication date
Application filed by Harvard University filed Critical Harvard University
Publication of WO2016044251A1 publication Critical patent/WO2016044251A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/459—Evaluating the wrist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6824—Arm or wrist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4585—Evaluating the knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4595—Evaluating the ankle

Definitions

  • the present invention is directed to methods and systems for determining motion, position and orientation of jointed elements, including human and animal subjects. More specifically, the invention is directed to determining joint motion, position and/or orientation using soft sensors.
  • buttons or holding a device instead of pressing buttons or holding a device, a more intuitive way to input data would be to capture direct motion from a part of the body such as the hand or the head. This would allow a runner to change track on his music player without taking it out of the pocket, or to change the TV channel without requiring a remote control.
  • a more recent device from Microsoft research [8] combines the benefits of vision and IMUs while avoiding interference with natural motion.
  • This portable Kinect offers also the advantage of tracking movements from the fingers, and not only the wrist motion. Its main limitation, as for the goniometers, resides in its bulky form factor which is inconvenient to wear in everyday life.
  • the joint includes a flexible material that becomes strained during joint articulation and sensors or sensing modalities can be used to detect the strain which can be used to determine the position of the joint at any given time as well as to detect and measure joint motion.
  • the joint can a biological joint of a human or animal or an articulated joint of device, such as a robot or mechanical device (e.g., motorized vehicle, crane, back-hoe).
  • the placement of the sensors can be optimized for a given application by identifying areas or portions of the flexible material that undergo higher levels of strain or have specific strain
  • a system for sensing articulation of a wrist joint can include one or more sensors placed on the surface of the joint, separated by a predefined distance from one of the axes of rotation.
  • the sensor can be used to detect articulation about a specific axis.
  • the system can detect articulation by comparing the outputs of the two sensors. This configuration enables the system to unambiguously decipher all the motions of the joint.
  • articulation in flexion/extension is defined as rotation about the x axis and articulation in ulnar/radial (U/R) deviation is defined as rotation about the z axis.
  • two sensors can be placed on the top of the wrist spaced apart from the z axis.
  • Articulation in F/E or U/R can be determined from the variation (e.g., the direction of the change) of the outputs.
  • both sensors are straining in the same direction as indicated by F/E articulation.
  • the sensors are straining in opposite directions as indicated by U/R articulation.
  • the sums and the differences of the output signals can be used to detect the position and the motion of the joint.
  • the outputs of these sensors can be input into a control system that interprets the joint movement and, for example, generates signals that can be used to control another system.
  • the motion of a hand can be captured and used to as part of a computer user interface to manipulate objects and elements being presented on a display screen to the user.
  • a simple example can capture a hand gesture of swiping the screen to turn the page of a multipage document or change windows of the user interface.
  • the motion of a hand can be used to control the navigation of motorized vehicle, such as an automobile or a multi-rotor drone.
  • FIG. 1 is a diagram showing the degrees of freedom (DOF) or motion of a wrist joint, wherein 1(a) shows Flexion, 1(b) shows Extension, 1(c) shows Ulnar deviation, 1(d) shows Radial deviation, 1(e) shows Pronation and 1(f) shows Supination.
  • DOF degrees of freedom
  • FIGS. 2A and 2B are diagrammatic views of a method and system for measuring joint position according to an embodiment of the invention.
  • FIG. 2C is a diagrammatic view of a method and system for measuring joint position according to an alternative embodiment of the invention.
  • FIGS. 3A - 3D show diagrammatic views of sensing device for sensing the articulation of the wrist joint according to one embodiment of the invention.
  • FIGS. 4A and 4B show diagrammatic views of system for measuring wrist joint angles that can be used to calibrate a joint angle sensing system according to some embodiments of the invention.
  • FIG. 5 A shows a diagrammatic view of joint motion in flexion and extension along with the sensor outputs in a joint angle sensing system according to some embodiments of the invention.
  • FIG. 5B shows a diagrammatic view of joint motion in ulnar and radial deviation along with the sensor outputs in a joint angle sensing system according to some embodiments of the invention.
  • FIG. 5C shows a diagrammatic view of joint motion in pronation and supination along with the sensor outputs in a joint angle sensing system according to some embodiments of the invention.
  • FIG. 6 shows a comparison between the sensing wrist band sensor output (in dashed lines) and the calibration device angle potentiometer signals (in the solid lines).
  • FIG. 7 is a diagrammatic view of a method and system for measuring joint position according to an alternative embodiment of the invention.
  • FIG. 8 is a diagrammatic exploded view of a system for providing wireless communication in a system for measuring joint position according to an alternative embodiment of the invention.
  • FIG. 9 is a diagrammatic view of a strain sensing element and a pressure sensing element according to some embodiments of the invention.
  • FIG. 10A is a diagrammatic view of a wireless control system in a system for measuring joint position according to an alternative embodiment of the invention.
  • FIG. 10B is a schematic diagram of a wireless control system in a system for measuring joint position according to an alternative embodiment of the invention.
  • FIG. 11 A shows a diagrammatic view of sensing glove system according to some embodiment of the invention.
  • FIG. 1 IB shows a diagrammatic view of a sensing finger of the sensing glove system shown in Fig. 11 A.
  • FIG. 12 shows a diagrammatic view of method of fabricating a sensing finger system according to some embodiments of the invention.
  • FIG. 13 shows a diagrammatic view of a sensing finger system fabricated according to the method of the invention shown in FIG. 11.
  • FIG. 14 shows an example of a sensing wrist band according to the invention being used to control a 3 DOF servo.
  • FIG. 15 shows an example of a sensing wrist band according to the invention being used to control a 3 DOF prosthetic articulated wrist.
  • FIG. 16A shows an example of a sensing wrist band according to the invention being used to control the roll, pitch and yaw of a quadcopter.
  • FIG. 16B shows a diagram of a system that includes a sensing wrist connected to a remote control to control a radio controlled device. DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
  • Soft sensors [9] generally include highly stretchable and compliant sensing elements (e.g., skins or films) which provide valuable joint angle, position and/or motion information with minimal impact on the host system (e.g., the wearer).
  • they can be made of a rubber containing microchannels filled with a liquid metal at room temperature (eutectic Gallium Indium, or eGaln). Under strain or normal pressure, the soft sensor's electrical resistance changes providing an interface with common electronic circuitry.
  • eGaln eutectic Gallium Indium
  • eGaln eutectic Gallium Indium
  • the present invention is directed to methods and systems for measuring joint motion where the joint is at least partially covered with a flexible and/or stretchable material that becomes strained during joint articulation.
  • the joint can be any joint used for articulation, including biological joints of humans and animals (e.g., wrists, finger joints, hands, feet, ankles, knees, etc.) and robotic and mechanical joints for articulated devices (e.g., artificial or prosthetic joints, robotic automation and mechanical machines such as cranes and back-hoes).
  • the joint can be at least partially covered with a flexible or stretchable material or skin that stretches during joint articulation.
  • joint articulation can be detected and measured by measuring the strain experienced by the flexible or stretchable material that is strained during joint articulation.
  • soft sensors e.g., strain sensors
  • the flexible or stretchable material that is strained during joint articulation can change one or more physical properties, such as electrical resistance, conductance or impedance, or optical transmittance or reflectance, in response to strain and can be used to detect and measure joint articulation.
  • the senor can be formed by measuring the electrical conductance of the skin of a subject that is being strained during joint movement.
  • two or three sensors can be used to capture its two or three degrees of freedom (DOF), namely Flexion/Extension (F/E) as shown in Figs. 1(a) and 1(b), Radial/ Ulnar deviations (R/U) as shown in Figs. 1(c) and 1(d) and Pronation/Supination (P/S) as shown in Figs. 1(e) andl(f).
  • DOF degrees of freedom
  • F/E Flexion/Extension
  • R/U Radial/ Ulnar deviations
  • P/S Pronation/Supination
  • strain sensors can be placed to sense these DOFs.
  • the wrist can be compared to a strained rod, one or more strain sensors (e.g., strain gauges) can be placed on the wrist in locations similar to the placement of sensors on the rod as shown in Figs. 2 A and 2B.
  • the strain sensors can be positioned on the surface of the wrist where the surface is intersected by a rotational axis.
  • Fig. 2B shows the strain sensors A and B positioned on the surface of the wrist where the x and z axes intersect the skin surface.
  • Rotating the wrist about the x axis causes the strain sensor B (at the intersection of the z axis) to extend or compress registering the motion and position.
  • Rotating the wrist about the z axis e.g., radial/ulnar deviation
  • causes the strain sensor A at the intersection of the x axis
  • rotating the wrist about the y axis e.g., pronation/supination
  • sensors A and B are aligned with the arm and separated by 90 degrees to capture most of the surface stretch due to rotation about X or Z (or flexion/extension and radial/ulnar deviations in the case of the wrist).
  • the role of sensor C is to sense torsion about Y (or pronation/supination on the wrist), and can be placed above or under the forearm.
  • the skin can be highly stretchable (1.5x) which requires using strain sensors which can
  • one or more sensors can be placed on the surface in locations that experience strain during articulation of the joint.
  • strain sensors A and B can be positioned on the surface of the joint at a predefined distance from the z axis.
  • skin in the locations of strain sensors A and B would experience greater strain that on the z axis.
  • controlling the distance of the sensors from the z axis can be used to control the sensitivity of the system, for example, increasing the distance from the z axis can provide for increased sensitivity.
  • a single sensor e.g., sensor A or sensor B
  • their signals can be combined, e.g., a summed or differential signal can be generated. Combining the signals can help to unambiguously decipher the motions of the joint and minimize the effects of crosstalk.
  • the sensors can be embodied in a wearable device that can be placed in direct contact with the skin surface to measure stretch and detect motion.
  • the wearable device can cover the entire skin surface around the joint(s) like a glove or sleeve with a soft, flexible and/or thin material that does not interfere with natural joint motion.
  • the wearable device can cover only the portions that are needed to engage the skin in order to measure stretching, while leaving other areas of the surface exposed.
  • the wearable device can be highly conformal to the surface on which it is worn making it as invisible as possible and highly comfortable.
  • the sensors can be embodied in clothing or a support brace or other orthotic device worn by the user.
  • Figs. 3A - 3D show an example of a wrist sensing band where the soft sensors can be attached to rubber straps using a removable fastening element (e.g., Velcro TM, hook and loop fastener) according to some embodiments of the invention.
  • a removable fastening element e.g., Velcro TM, hook and loop fastener
  • the two sensors 330A and 330B covering the carpal row can be used to measure the flexion/extension (e.g., by the sum of the readings) as well as the lateral deviations (e.g., by the difference between the readings).
  • the wrist sensing band 300 includes a first elastomeric strap 310 positioned on the hand and two elastomeric wrist straps 320 and 322 positioned on the wrist but spaced apart by a predefined distance.
  • the third sensor can be placed laterally with a slight angle ( ⁇ 10 degrees) under the wrist connected between the two elastomeric wrist straps 320 and 322 to measure pronation and supination. It is useful that the third sensor is configured such that it does not align with the forearm's longitudinal axis to reduce crosstalk under flexion/extension.
  • Fig. 3C shows a detail view of the soft sensor 330 according to some embodiments of the invention.
  • the soft sensor 330 includes stretchable (e.g., elastomeric) substrate 334 with a single channel 332 extending from a first reservoir 340 along a serpentine path to a second reservoir 350.
  • Wires 342 and 352 can be used to connect the sensor 330 to detection electronics (not shown)
  • Fig. 3D shows a diagrammatic view of the configuration of the flexible straps, first strap 310 positioned on the hand and wrist straps 320 and 322 positioned on the wrist, according to some embodiments of the invention.
  • the soft sensors can be fabricated in several steps.
  • the uncured rubber (EcoFlex 0030, Smooth-On Inc., Easton, PA 18042, USA) can be poured on two molds, e.g., created with a 3D printer (Objet 30, Stratasys, Eden Prairie, MN 55344, USA). While one layer can be flat, the other can contain the microchannels' pattern (300 x 300 ⁇ ).
  • Both layers can then be bonded by spin coating (2000 rpm, 50sec) the flat layer with a wet layer of the same rubber.
  • Liquid metal eGaln
  • syringes pierced in reservoirs 340 and 350 at each microchannel extremity.
  • One syringe can used to inject the liquid metal and the other to remove the air to ease the injection.
  • Copper wires 342 and352 can then be anchored in the reservoirs 340 and 350, and are connected, for example, to a signal conditioning circuit composed of a Wheatstone bridge and an operational amplifier.
  • the soft sensors can include the sensors disclosed in commonly owned U.S. Patent application serial numbers 62/031,469 filed on July 31, 2014, 61/538,841 filed on
  • any sensor capable of accommodating the strain of the skin or other stretchable material of the joint where it is measuring can be used.
  • the rubber straps can be made from the same rubber as the soft strain sensors and offer the advantage of not slipping on the skin.
  • Uncured rubber can be poured on a flat surface and a squeegee can be used with an automatic film applicator (Elcometer 4340, Manchester, UK) to control the thickness (1mm).
  • an automatic film applicator Elcometer 4340, Manchester, UK
  • a commercial C02 laser machining system VLS 2.3, Universal Laser Systems
  • a die cutting system can be used to cut the strap's contour.
  • fasteners such as Velcro TM pads can be glued with a silicone adhesive (Sil-Poxy, Smooth-On Inc., Easton, PA 18042, USA) to enable them to be easily attached or removed around the wrist.
  • silicone adhesive Silicon-Poxy, Smooth-On Inc., Easton, PA 18042, USA
  • the sensors can be positioned to fit the wrist's complex 3D shape and minimize the crosstalk, they can present different sensitivity characteristics and can be positioned in slightly different ways from time to time or from user to user. Therefore, before each use, a calibration matrix [9,13] can be calculated to convert the reading from all sensors into the desired motion angles.
  • an external calibration device can be used to measure the angles.
  • a blind calibration can be performed without the need for an external calibration device.
  • the output signals are linear.
  • the elongation of a strain sensor produces a linear output under longitudinal strain.
  • the complex shape of the wrist can induce localized normal pressure, which is also sensed by the soft sensors and can add some non-linearity to the measurement.
  • a calibration device can be constructed, such that disclosed in Figs. 4A and 4B.
  • One advantage of the calibration device shown in Fig. 4A and 4B is that each DOF can also be locked as shown in Fig. 4B, allowing measurement of one DOF at a time.
  • the calibration device can include a handle which has three DOFs and each DOF can be measured by a separate sensor (e.g., potentiometer, optical encoder, Hall Effect sensor) integrated in the pivot joints.
  • calibration can include some or all joint articulation movements.
  • For all wrist movements at least four full strokes can be performed while data from the calibration device as well as the output values from the soft sensors can be collected and measured.
  • the pace of the wrist movement can be approximately IHz (a typical wrist movement speed). This data can be used to determine and construct the calibration matrix.
  • the soft sensor values can be compared to the angles from the calibration device.
  • Figs. 5A shown flexion/extension
  • 5B shown radial/ ulnar deviations
  • Sensors A and B react in a similar manner for F/E and oppositely for R U while Sensor C does not sense a lot of activity.
  • Fig. 5C shows pronation/supination
  • Sensor C measures most of the movement.
  • a linear regression can be calculated for every sensor's output (3 ⁇ 4, 3 ⁇ 4 and Sc). The slopes m are then reported in a matrix C:
  • the matrix can then be inverted using the Moore-Penrose pseudo inverse method, and the wrist an les (a) can then be calculated using the following equation:
  • Fig. 6 shows a comparison between the sensing wrist band (in dashed lines) and the calibration device (in the solid lines).
  • the root mean square (RMS) errors for F/E, R U and P/S are 1.98, 3.2 and 7.46 degrees respectively.
  • a blind calibration procedure can be useful in cases where it is
  • each sensor value can be measured and the slopes can be determined using two points (e.g. any two points between the maximum F/E, U/R, or P/S) and the output corresponds to an angle normalized to the wrist's maximum deflections. From there, the utilization of the rotation matrix remains the same as described above. In accordance with other embodiments of the invention, two or more points can be used to fit a line from which a slope can be determined.
  • a method of locating the sensors can include articulating the joint about one or more axes and identifying locations where a flexible material covering the joint would undergo strain during articulation.
  • the joint can be enclosed or covered with a glove or sleeve that includes a plurality of strain sensors that can be used to identify strain locations during articulation of the joint.
  • the identification step can be accomplished empirically by placing a sensor in a specific location and articulating the joint and determining whether the specified location undergoes a predefined minimum strain. If so, locations for each sensor can be identified in turn using as similar manner. If not, the process can be repeated after moving the sensor to a different location, preferably away from the axis of rotation. Alternatively, a visual and/or finite element analysis of the joint can be performed to identify locations that meet the performance criteria.
  • FIGs 7 - 10 show a wrist sensing system 700 according to an alternative embodiment of the invention.
  • the wrist sensing system 700 can include a wearable component 702 formed from a flexible and/or stretchable material that includes one or more strain sensors 710 and, optionally, one or more pressure sensors 720 and control unit 730 providing wireless communication with a remote system.
  • the wearable component 702 can be as extensive as a glove or only minimally extensive to couple the sensors to specific locations on the body such that when a joint is articulated, the sensors experience a change in strain.
  • the wearable component 702 can be fabricated from an elastomeric material, such as, for example, rubber materials, latex materials, silicone, PDMS, and combinations thereof.
  • the sensors 710 and 720 can be integrated into the wearable component 702 by molding as a monolithic element or the fabricated as separate components that are glued or otherwise adhered to the wearable component by a removable elements, such as hook and look fasters (e.g., Velcro TM).
  • Fig. 8 shows an exploded view of the control unit 730 according to some embodiments of the invention.
  • the control unit 730 can include a microcontroller (e.g., one or more central processing units (CPUs) and associated memories), an analog to digital converter and a wireless communication subsystem (e.g., Blue Tooth TM or WiFi) to enable the control unit 730 to receive signals from the sensors 710 and 720, via wires or leads embedded in the wearable component 702 and generate signals that are communicated using the wireless communication subsystem to a remote system that can be, for example, controlled by the sensed movements of the wrist.
  • a microcontroller e.g., one or more central processing units (CPUs) and associated memories
  • an analog to digital converter e.g., an analog to digital converter
  • a wireless communication subsystem e.g., Blue Tooth TM or WiFi
  • the control unit 730 can include one or more circuit board 731 (e.g., containing the microcontroller, the A/D converter and the wireless controller), a display 734 connected to the CPU through the circuit board 731, and a housing or enclosure 736A and 736B.
  • the housing and/or any of its components can be fabricated by 3D printing, molding or machining from well-known plastic and/or metal materials.
  • the controller unit 730 can also include a power source, such as a battery (e.g., IS, 3.7V, 150mAh battery from Eflite, Champaign, IL), one or more voltage regulators (e.g., MIC520, from Micrel Inc., San Jose, CA) and a current source (e.g., LM334, from Texas Instruments, Inc., Dallas, TX).
  • a battery e.g., IS, 3.7V, 150mAh battery from Eflite, Champaign, IL
  • one or more voltage regulators e.g., MIC520, from Micrel Inc., San Jose, CA
  • a current source e.g., LM334, from Texas Instruments, Inc., Dallas, TX.
  • the sensors can be operated as variable resistors having a range from 1 to 10 Ohms and the constant current source can be configured to provide constant current (e.g., 1 mA, 5 niA, 10 mA, or more) through all the sensors
  • Fig. 9 shows diagrams of the soft sensors 710 and 720.
  • Sensor 710 is configured as a strain sensor that includes a one or more channels 712 that extend through a flexible and/or stretchable substrate.
  • the channels 712 can be filled with an eGaln material or similar material that changes electrical resistance when it is strained.
  • the strain sensor channel 712 can be oriented in a serpentine configuration extending along the strain axis 704 as shown in Fig. 9. When the sensor 710 is strained along the strain axis 704, the electrical resistance across the reservoirs 714 and 716 increases (e.g., as measured by the CPU).
  • Sensor 720 is configured as a pressure sensor that includes one or more channels 722 that extend through a compressible substrate.
  • the channels 722 can be filled with an eGaln material or similar material that changes electrical resistance when it is compressed.
  • the strain sensor channel can be oriented in a circular or spiral configuration. When the sensor 720 is compressed, the electrical resistance across the reservoirs 724 and 726 increases (e.g., as measured by the CPU).
  • Figs. 10A and 10B show a block diagram and a circuit diagram of a control system 730 according to some embodiments of the invention.
  • the control system 730 can include a CPU 732 that is connected to a display 734 and sensors 710 and 720 through a multi-channel operational amplifier 736 and a multiplexer 738.
  • the multiplexer 738 is used because the CPU732 in this embodiment only provides analog to digital input channel and multiplexer enables switching between multiple sensors. Where a CPU having multiple analog inputs is used, a multiplexer would not be needed.
  • the CPU 732 can be an RFD22301 ARM Cortex M0 based microcontroller which includes a Blue Tooth 4.0 wireless communication subsystem 732B and a 10 bit analog to digital converter 732A.
  • the Blue Tooth communication subsystem 732B enables the control system 730 to communicate with a remote computer system such as a Personal Computer or smartphone.
  • the Blue Tooth communication subsystem 732B can also be used to connect the wearable controller 700 to a moveable device such as drone, or motorized vehicle.
  • the operational amplifier 736 e.g., OPA4330, from Texas Instruments Inc., Dallas, TX
  • the display 734 can used to display the detected motion information as well as provide Blue Tooth connection information.
  • the display 734 can also provide wrist watch type time keeping functions (e.g., time of day, date, alarms).
  • the sensors 710 and 720 can be incorporated into a flexible watch band that enables the time piece to function as gesture sensing device that can use Blue Tooth or other wireless communication to sense wrist or other joint motion and send wrist or joint motion based gesture information to a remote device (e.g., a computer or computerized system) and enable a gesture based user interface to control the computer or computerized system.
  • the microcontroller 732 can include one or more CPUs and associated memories.
  • One or more memories can include computer programs in form of software or firmware that control the operation of the microcontroller 732 and the control system 730.
  • the computer programs can be arranged in one or more modules or components that provide specific functions or capabilities. For example, one module can read the sensor signals and store the sensor signals as digital values representing the magnitude or change in magnitude of the electrical resistance or conductance of the sensor. Another module can be configured to communicate the digital values of one or more of the specific sensors using the wireless communication subsystem to a remote device.
  • Another module can be configured to send information to be displayed on the display 734.
  • Another module can process the digital sensor values to determine roll, pitch and/or yaw positions and motions of the wrist sensing system 700.
  • Figs. 11A and 1 IB show an embodiment of a hand sensing system 1000 according to an alternative embodiment of the invention.
  • the sensing system 1000 can include a skin or skin-like layer 1010 that can cover all or some regions of the hand.
  • the skin layer 1010 can include embedded wires 1012 and sensors, such as strain sensors 1020 and pressure sensors 1030.
  • the wires 1012 can be connected to the sensor 1020 and 1030 to transfer sensing signals to a
  • Fig. 1 IB shows a detail view of a finger of the system 1000 shown in Fig.
  • a skin layer 1010 can include one or more strain sensors 1022, 1024, 1026 positioned adjacent to one or more joints of the finger to measure articulation of each joint.
  • the skin layer 1010 can include sensors corresponding to one or more joints of the finger, including, for example, an MCP strain sensor 1022, a PIP strain sensor 1024 and a DIP strain sensor 1026, each connected by one or more wires 1012 to a measuring system (e.g., a controller).
  • a measuring system e.g., a controller
  • one or more pressure or contact sensors 1030 can also be provided.
  • Fig. 12 shows an example of how the sensing system 1000 can be fabricated according to some embodiments of the invention.
  • An encapsulation mold can be produced that includes a mold cavity.
  • Individual strain sensors 1020 and pressure sensors 1030 can be located as predefined locations in the mold cavity.
  • the glove or hand covering skin layer 1010 can be poured into the mold cavity and allowed to cure. It should be noted that it is not necessary for the skin layer to cover the entire joint. In accordance with some embodiments, the skin only covers a portion of the joint as is needed to make contact with skin and enable the strain sensor to become strained during joint articulation.
  • Fig. 13 shows an example of the finger glove produced molding according to the method described with respect to Fig. 12.
  • a 3 DOF sensing wrist band 700 can be used to control a 3 DOF servo 710.
  • the sensing system 700 according to the invention can be used to control the roll, pitch and yaw axis of a 3 DOF servo 760.
  • a 3 DOF sensing wrist band 700 can be used to control a 3 DOF prosthetic wrist 770.
  • the sensing system 700 to the invention can be used to control the F/E, U/R, or P/S motions of the prosthetic wrist 770.
  • a 3 DOF sensing wrist band 700 can be used to control the roll, pitch and yaw of a small quadcopter 780 as shown in Fig. 16A. Control is usually done using a commercial remote control with which the pilot interacts using his fingers on two sticks with two degrees of freedom each.
  • Fig. 16B shows an embodiment of a control system 1600, according to some embodiments of the invention.
  • the control system 1600 can be configured whereby the yaw can be controlled by flexion/extension, while roll and pitch can be controlled by pronation/supination and ulna/radial deviations respectively.
  • sensors of sensing wrist band 700 can be connected to an amplifier circuit 1632 that can be connected to an analog to digital converter and a microcontroller 1634 (e.g., an PC) which determines the analog voltages (e.g., from which calculations can be made) and generates pulse width modulation (PWM) control signals (e.g., a 62.5kHz PWM signal).
  • the microcontroller 1634 can be coupled to a modified remote control that replaces the two joystick signals with analog voltages.
  • An RC filter network 1636 can be used to convert the PWM signal to an analog voltage.
  • the original remote control 1638 can be modified to accept analog input voltages from the microcontroller instead of the on-board potentiometers. Because the sensing wrist band offers three DOFs, the fourth channel (throttle to control the vertical speed) can be controlled using the original remote control joystick.
  • the modified remote control can send one or more wireless signals to control servos and motors of the quadcopter 780.
  • the sensing wrist band offers an intuitive piloting approach, as if the pilot is controlling the copter holding a virtual control stick in his hand.
  • the hand and/or wrist based sensing system can be also be used in a device user interface, such as to control a computer using gestures or simulation and virtual reality applications.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biophysics (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Geometry (AREA)
  • Physiology (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un système de mesure d'un mouvement d'articulation qui comprend un ou plusieurs capteurs de contrainte souples. L'articulation peut comprendre un matériau flexible qui subit une déformation localisée pendant le mouvement d'articulation. L'emplacement de régions du matériau flexible qui sont contraintes lors du mouvement d'articulation peut être identifié et les capteurs souples peuvent être positionnés au niveau d'emplacements de contrainte sur le matériau flexible ou de manière adjacente à ceux-ci. Le système de mesure de mouvement d'articulation peut comprendre une enveloppe souple et flexible qui peut être appliquée sur la peau d'un sujet pour mesurer les mouvements d'articulation d'une main et/ou d'un poignet qui peuvent être utilisés pour commander un objet ou un dispositif, par exemple pour fournir une interface utilisateur basée sur un geste.
PCT/US2015/050153 2014-09-15 2015-09-15 Procédé et système de mesure de position d'articulation Ceased WO2016044251A1 (fr)

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WO2019226558A1 (fr) * 2018-05-21 2019-11-28 President And Fellows Of Harvard College Capteurs de contrainte conformes ultrasensibles
WO2020182962A1 (fr) * 2019-03-12 2020-09-17 Forstgarten International Holding Gmbh Dispositif, système et procédé de suivi de mouvements
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US11498203B2 (en) 2016-07-22 2022-11-15 President And Fellows Of Harvard College Controls optimization for wearable systems
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US11464700B2 (en) 2012-09-17 2022-10-11 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US10843332B2 (en) 2013-05-31 2020-11-24 President And Fellow Of Harvard College Soft exosuit for assistance with human motion
US11324655B2 (en) 2013-12-09 2022-05-10 Trustees Of Boston University Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
US10864100B2 (en) 2014-04-10 2020-12-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US11590046B2 (en) 2016-03-13 2023-02-28 President And Fellows Of Harvard College Flexible members for anchoring to the body
US11498203B2 (en) 2016-07-22 2022-11-15 President And Fellows Of Harvard College Controls optimization for wearable systems
KR20180089066A (ko) * 2017-01-31 2018-08-08 광운대학교 산학협력단 패치 타입의 스트레인 센서와 압력 센서 기반 드론 원격 제어 시스템
KR101990494B1 (ko) * 2017-01-31 2019-06-18 광운대학교 산학협력단 패치 타입의 스트레인 센서와 압력 센서 기반 드론 원격 제어 시스템
US11014804B2 (en) 2017-03-14 2021-05-25 President And Fellows Of Harvard College Systems and methods for fabricating 3D soft microstructures
CN107219925A (zh) * 2017-05-27 2017-09-29 成都通甲优博科技有限责任公司 姿势检测方法、装置及服务器
US11347318B2 (en) 2017-11-24 2022-05-31 Korea Electronics Technology Institute Sensor for recognizing hand gesture and sensor array using same
KR102032539B1 (ko) * 2017-11-24 2019-10-15 전자부품연구원 핸드제스처 인식용 센서 및 이를 이용한 센서 레이어
KR20190060444A (ko) * 2017-11-24 2019-06-03 전자부품연구원 핸드제스처 인식용 센서 및 이를 이용한 센서 레이어
WO2019103435A1 (fr) * 2017-11-24 2019-05-31 전자부품연구원 Capteur pour reconnaître un geste de la main et réseau de capteurs l'utilisant
WO2019226558A1 (fr) * 2018-05-21 2019-11-28 President And Fellows Of Harvard College Capteurs de contrainte conformes ultrasensibles
US11422045B2 (en) 2018-05-21 2022-08-23 President And Fellows Of Harvard College Ultra-sensitive compliant strain sensors
US20230109355A1 (en) * 2018-05-21 2023-04-06 President And Fellows Of Harvard College Ultra-sensitive complaint strain sensors
US11761832B2 (en) 2018-05-21 2023-09-19 President And Fellows Of Harvard College Ultra-sensitive compliant strain sensors
US11510035B2 (en) 2018-11-07 2022-11-22 Kyle Craig Wearable device for measuring body kinetics
WO2020182962A1 (fr) * 2019-03-12 2020-09-17 Forstgarten International Holding Gmbh Dispositif, système et procédé de suivi de mouvements
GB2586526B (en) * 2019-12-20 2021-08-11 Digital & Future Tech Limited System and method for monitoring body movement
GB2586526A (en) * 2019-12-20 2021-02-24 Digital & Future Tech Limited System and method for monitoring body movement
US11698384B2 (en) 2019-12-20 2023-07-11 Digital & Future Technologies Limited System and method for monitoring body movement
CN115227204A (zh) * 2022-07-08 2022-10-25 同济大学浙江学院 一种非侵入式腕关节轴线参数的测量装置及测量方法

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