摘要
针对动态测量手指关节角度的需要,设计了基于传感器的手指运动姿态监测方法。从可穿戴式设备的角度出发,在分析了PVDF压电薄膜传感器、电阻应变片和三轴加速度计ADXL330工作原理的基础上,设计了动态角度测量实验和3组监测实验;传感器固定在手套的对应关节的位置处。对比3组实验,分析实验数据,得到结论:PVDF压电薄膜传感器动态响应快,适合高频激励下手指运动姿态的监测;电阻应变片在高频激励下的响应有一定的延迟,这种响应迟后对动态应变测量会产生误差,其比较适合低频激励下手指运动姿态的监测;加速度计ADXL330在低频激励下能较好地实现对手指运动姿态的监测,其工作的稳定性和可靠性良好。
To measure the joint angle dynamically,the monitoring methods of finger motion based on sensor is designed. With the perspective of wearable devices; the dynamic angle measurement experiment and three groups of monitoring experiments are designed on the basis of analyzing the working principle of PVDF piezoelectric film sensor,resistance strain gauge and three-axis accelerometer ADXL330; three sensors are fixed on the gloves corresponding to the location of finger joint. Compare three groups of experiments and analyze the experimental data,results show that PVDF piezoelectric film sensor has the character of fast dynamic response and it is suitable for the dynamic detection under the condition of high-frequency excitation; resistance strain gauge 's dynamic response has a certain delay under high-frequency excitation and this kind of delay will lead to error in dynamic strain measurements,thus resistance strain gauge is suitable for the dynamic monitoring under the condition of lowfrequency excitation; three-axis accelerometer ADXL330 is suitable for dynamic monitoring under the condition of low-frequency excitation and it works stably and reliably.
出处
《黑龙江大学工程学报》
2017年第1期84-90,共7页
Journal of Engineering of Heilongjiang University
基金
哈尔滨工业大学机器人技术与系统国家重点实验室项目(SKLRS-2015-MS-10)
