Artificial skin based on piezoelectric material and thermistor material and detection method thereofTechnical Field
The invention belongs to the technical field of medical instruments, artificial intelligence and teaching equipment, and is used for manufacturing artificial intelligence skin, in particular to artificial skin based on piezoelectric materials and thermistor materials and a detection method thereof.
Background
Skin is one of the most important human perception organs, and with the rapid development of robotics and electronic medical technology, artificial intelligence skin is receiving wide attention.
Artificial intelligence skin is a product that simulates human skin with functional materials. The existing artificial intelligence skin mostly adopts a sensor and other circuit structures to collect signals, has a complex structure, is not beneficial to miniaturization and integration, is not easy to expand to a large area, and has low detection sensitivity. In addition, the existing artificial skin does not have an intelligent detection function.
Disclosure of Invention
The present invention aims to provide an artificial skin based on piezoelectric and thermistor materials, which is intended to solve the above-mentioned problems of the prior art. It is another object of the present invention to provide a temperature and pressure sensing method implemented using the above artificial skin.
In order to achieve the purpose, the invention adopts the following technical scheme:
an artificial skin based on piezoelectric material and thermistor material, which comprises a signal acquisition part and a circuit part;
one) signal acquisition part
The signal acquisition part comprises a device protective layer and a composite signal acquisition layer arranged below the device protective layer;
the composite signal acquisition layer adopts a first composite signal acquisition layer or a second composite signal acquisition layer; wherein,
① first composite signal acquisition layer
The first composite signal acquisition layer consists of a first electrode layer, a thermistor material layer, a second electrode layer, a piezoelectric material layer and a third electrode layer which are sequentially arranged from top to bottom;
the first electrode layer, the thermistor material layer and the second electrode layer form a temperature detection layer together;
the second electrode layer, the piezoelectric material layer and the third electrode layer form a pressure detection layer together;
② second composite signal acquisition layer
The second composite signal acquisition layer consists of a third electrode layer, a piezoelectric material layer, a second electrode layer, a thermistor material layer and a first electrode layer which are sequentially arranged from top to bottom;
the third electrode layer, the piezoelectric material layer and the second electrode layer together form a pressure detection layer;
the second electrode layer, the thermistor material layer and the first electrode layer form a temperature detection layer together;
two) circuit part
The circuit part comprises a front-end circuit and a back-end circuit;
the front-end circuit comprises a first controller, wherein a control signal output end of the first controller is connected with signal input ends of a first electrode layer and a second electrode layer;
the back-end circuit employs one of a first back-end circuit or a second back-end circuit, wherein,
A. first back-end circuit
The first back-end circuit comprises a filtering unit, a first analog-to-digital conversion unit and a first central processing unit which are sequentially connected in series, wherein the filtering unit comprises a low-pass filter and a high-pass filter which are connected in parallel, and the first analog-to-digital conversion unit comprises a first analog-to-digital converter and a second analog-to-digital converter;
the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the filtering unit, and the signal output end of the low-pass filter is connected with the first central processing unit through the first analog-to-digital converter and the signal output end of the high-pass filter is connected with the second central processing unit through the second analog-to-digital converter;
B. second back end circuit
The second back-end circuit comprises a second analog-to-digital conversion unit and a second central processing unit which are sequentially connected in series;
and the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the second analog-to-digital conversion unit.
As a limitation: the first electrode layer comprises N1 (N1 is more than or equal to 1) small electrodes, and the third electrode layer comprises N2 (N2 is more than or equal to 1) small electrodes;
the front-end circuit further comprises a first multiplexer;
the control signal output end of the first controller is respectively connected with the signal input ends of the N1 small electrodes and the second electrode layer which are included in the first electrode layer through a first multi-path modulator;
the first back-end circuit further comprises a first multi-path demodulator;
the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the filtering unit through a first multi-path demodulator;
the second back-end circuit further comprises a second multi-path demodulator;
and the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the second analog-to-digital conversion unit through a second multi-path demodulator.
As a second limitation: the first back-end circuit further comprises a second controller and a first excitation electrode layer;
the signal output end of the first central processing unit is connected with the signal input end of the second controller, and the control signal output end of the second controller is connected with the signal input end of the first excitation electrode layer;
the second back-end circuit further includes a third controller and a second actuation electrode layer;
and the signal output end of the second central processing unit is connected with the signal input end of a third controller, and the control signal output end of the third controller is connected with the signal input end of the second excitation electrode layer.
As a further limitation: the first back-end circuit further comprises a second multiplexer;
the first excitation electrode layer comprises N3 small excitation electrode layer units, N3 is more than or equal to 1, and N3 is the maximum value of N1 and N2;
the signal input end of the second multi-path modulator is connected with the control signal output end of the second controller, and the signal output end of the second multi-path modulator is respectively connected with the signal input end of the N3 small-excitation electrode layer unit;
the second back-end circuit further comprises a third multiplexer;
the second excitation electrode layer comprises N4 small excitation electrode layer units, N4 is more than or equal to 1, and N4 is the maximum value of N1 and N2;
and the signal input end of the third multi-path modulator is connected with the control signal output end of the third controller, and the signal output ends of the third multi-path modulator are respectively connected with the signal input ends of the N4 small-excitation electrode layer units.
A method for detecting pressure and temperature is realized by using the artificial skin based on the piezoelectric material and the thermistor material, and the method is a method I or a method II, wherein the method I is used when a first back-end circuit is adopted by a back-end circuit, the method II is used when a second back-end circuit is adopted by the back-end circuit, wherein,
I. method 1
The first method comprises the following steps of:
firstly, applying a direct current voltage/current signal on the first electrode layer and the second electrode layer through a first controller;
when the external temperature changes, the resistivity of the thermistor material layer changes, the temperature detection layer outputs a direct current analog electric signal containing resistivity change to the filtering unit, when pressure is applied to the artificial skin, the surface of the piezoelectric material layer generates electric charges and further forms an alternating current analog electric signal, and the pressure detection layer outputs the alternating current analog electric signal to the filtering unit;
the filtering unit processes the received mixed analog electric signal through a low-pass filter to obtain a direct-current analog electric signal containing resistivity change and outputs the direct-current analog electric signal to the first analog-to-digital converter, and the filtering unit processes the received mixed analog electric signal through a high-pass filter to obtain an alternating-current analog electric signal and outputs the alternating-current analog electric signal to the second analog-to-digital converter;
thirdly, the first analog-to-digital converter converts the received direct current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit, and the second analog-to-digital converter converts the received alternating current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit;
the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value, and the first central processing unit calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value;
fifthly, the first central processing unit performs corresponding feedback according to the temperature value and the pressure value obtained through calculation processing;
II, method II
The second method comprises the following steps of:
firstly, applying a direct current voltage/current signal on the first electrode layer and the second electrode layer through a first controller;
when the external temperature changes, the resistivity of the thermistor material layer changes, the temperature detection layer outputs a direct current analog electric signal containing resistivity change to the second analog-to-digital conversion unit, when pressure is applied to the artificial skin, charges are generated on the surface of the piezoelectric material layer and an alternating current analog electric signal is further formed, and the pressure detection layer outputs the alternating current analog electric signal to the second analog-to-digital conversion unit;
the second analog-to-digital conversion unit converts the received mixed analog electric signal containing the direct current analog electric signal and the alternating current analog electric signal into a digital signal and outputs the digital signal to a second central processing unit;
thirdly, the second central processing unit processes the received digital signals by utilizing a low-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing temperature information, and the second central processing unit processes the received digital signals by utilizing a high-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing pressure information;
fourthly, calculating and processing the digital signal containing the temperature information obtained in the third step by the second central processing to obtain a temperature value, and calculating and processing the digital signal containing the pressure information obtained in the third step by the second central processing to obtain a pressure value;
and fifthly, the second central processing unit performs corresponding feedback according to the temperature value and the pressure value obtained through calculation and processing.
As a limitation: in the first process, the first step is carried out,
the first electrode layer comprises N1 (N1 is more than or equal to 1) small electrodes, the third electrode layer comprises N2 (N2 is more than or equal to 1) small electrodes, a first multi-path modulator is arranged between the first controller and the temperature detection layer, and the temperature detection layer and the pressure detection layer are connected with the filtering unit through the first multi-path demodulator;
the first step comprises the following steps performed in sequence,
firstly, outputting a direct current voltage/current signal to a first multiplexer through a first controller, wherein the first multiplexer modulates the received direct current voltage/current signal and then outputs the modulated direct current voltage/current signal to a first electrode layer and a second electrode layer;
when the temperature near the artificial skin corresponding to the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer changes, the resistivity of the thermistor material layer changes, the Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer and the thermistor material layer outputs a direct current analog electric signal containing the resistivity change to the first multi-channel demodulator, when the pressure of the outer surface of the artificial skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer changes, the surface of the piezoelectric material layer generates electric charges and further forms an alternating current analog electric signal, and the S pressure detection layer unit consisting of the S small electrode, the second electrode layer and the piezoelectric material layer outputs the alternating current analog electric signal to the first multi-channel demodulator;
(I2) the first multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to a filtering unit;
in the fourth step, the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value near the artificial skin corresponding to the mth small electrode of the first electrode layer, and the first central processing unit calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value of the outer surface of the artificial skin corresponding to the sth small electrode of the third electrode layer;
(IIA) in the second process,
the first electrode layer comprises N1 (N1 is more than or equal to 1) small electrodes, the third electrode layer comprises N2 (N2 is more than or equal to 1) small electrodes, a first multi-channel modulator is arranged between the first controller and the temperature detection layer, and the temperature detection layer and the pressure detection layer are connected with the second analog-to-digital conversion unit through a second multi-channel demodulator;
the first step comprises the following steps which are carried out in sequence,
(I11) outputting a direct current voltage/current signal to a first multiplexer through a first controller, wherein the first multiplexer modulates the received direct current voltage/current signal and then outputs the modulated direct current voltage/current signal to a first electrode layer and a second electrode layer;
when the temperature near the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer changes, the resistivity of the thermistor material layer changes, the Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer and the thermistor material layer outputs a direct current analog electric signal containing resistivity change to the second multi-channel demodulator, when the pressure of the outer surface of the artificial skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer changes, the surface of the piezoelectric material layer generates electric charges and further forms an alternating current analog electric signal, and the S-th pressure detection layer unit consisting of the S-th small electrode, the second electrode layer and the piezoelectric material layer outputs the alternating current analog electric signal to the second multi-channel demodulator;
(I12) the second multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to a second analog-to-digital conversion unit;
in the fourth step, the second central processing calculates the digital signal containing the temperature information obtained in the third step to obtain a temperature value near the artificial skin corresponding to the mth small electrode of the first electrode layer, and the second central processing calculates the digital signal containing the pressure information obtained in the third step to obtain a pressure value of the outer surface of the artificial skin corresponding to the sth small electrode of the third electrode layer.
As a second limitation: (Ia) in a first process step,
the first back-end circuit further comprises a second controller and a first excitation electrode layer, the signal output end of the first central processing unit is connected with the signal input end of the second controller, and the control signal output end of the second controller is connected with the signal input end of the first excitation electrode layer;
in the fourth step, the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value and outputs the temperature value to the second controller, and the first central processing unit calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value and outputs the pressure value to the second controller;
step five, the second controller further processes the received temperature value and then sends a corresponding control signal to the first excitation electrode layer, and the second controller further processes the received pressure value and then sends a corresponding control signal to the first excitation electrode layer;
the method also comprises a sixth step of,
sixthly, the first excitation electrode layer sends out corresponding electric signals and outputs the electric signals to a signal input end of the connected/installed part;
(IIa) in the second process,
the second back-end circuit further comprises a third controller and a second excitation electrode layer, the signal output end of the second central processing unit is connected with the signal input end of the third controller, and the control signal output end of the third controller is connected with the signal input end of the second excitation electrode layer;
in the fourth step, the second central processing calculates the digital signal containing the temperature information obtained in the third step to obtain a temperature value and outputs the temperature value to the third controller, and the second central processing calculates the digital signal containing the pressure information obtained in the third step to obtain a pressure value and outputs the pressure value to the third controller;
step five, the third controller further processes the received temperature value and then sends a corresponding control signal to the second excitation electrode layer, and the third controller further processes the received pressure value and then sends a corresponding control signal to the second excitation electrode layer;
the method also comprises a sixth step of,
and sixthly, the second excitation electrode layer sends out corresponding electric signals and outputs the electric signals to a signal input end of the connected/installed part.
As a further limitation of the second definition: i, in the first method,
the first back-end circuit further comprises a second controller, a second multiplexer and a first excitation electrode layer;
the first excitation electrode layer comprises N3 small excitation electrode layer units, N3 is more than or equal to 1, and N3 is the maximum value of N1 and N2;
the signal output end of the first central processing unit is connected with the signal input end of the second controller, the control signal output end of the second controller is connected with the signal input end of the second multi-path modulator, and the signal output end of the second multi-path modulator is respectively connected with the signal input end of the N3 small excitation electrode layer unit;
in the fourth step, the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value near the artificial skin corresponding to the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer, and outputs the temperature value to the second controller, and the first central processing unit calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value on the outer surface of the artificial skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer, and outputs the pressure value to the second controller;
step five, the second controller further processes the received temperature value and then sends a corresponding control signal to the second multi-channel modulator, and the second controller further processes the received pressure value and then sends a corresponding control signal to the second multi-channel modulator;
the method further comprises a sixth step and a seventh step,
after demodulating the control signal received in the fifth step, the second multiplexer outputs the electric signal related to the temperature to an M1 (1 is more than or equal to M1 is more than or equal to N3) small excitation electrode layer unit corresponding to the Mth small electrode of the first electrode layer, and outputs the electric signal related to the pressure to an S1 (1 is more than or equal to S1 is more than or equal to N3) small excitation electrode layer unit corresponding to the S small electrode of the third electrode layer;
seventhly, the M1 th small excitation electrode layer unit and the S1 th small excitation electrode layer unit respectively send corresponding electric signals and output the electric signals to the signal input ends of the connected/installed parts respectively;
ii, in the second method,
the second back-end circuit further comprises a third controller, a third multiplexer, and a second actuation electrode layer;
the second excitation electrode layer comprises N4 small excitation electrode layer units, N4 is more than or equal to 1, and N4 is the maximum value of N1 and N2;
the signal output end of the second central processing unit is connected with the signal input end of a third controller, the control signal output end of the third controller is connected with the signal input end of a third multi-path modulator, and the signal output end of the third multi-path modulator is respectively connected with the signal input end of the N4 small-excitation electrode layer unit;
in the fourth step, the second central processing calculates the digital signal containing the temperature information obtained in the third step to obtain a temperature value near the artificial skin corresponding to the M (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer and outputs the temperature value to the third controller, and the second central processing calculates the digital signal containing the pressure information obtained in the third step to obtain a pressure value on the outer surface of the artificial skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer and outputs the pressure value to the third controller;
step five, the third controller further processes the received temperature value and then sends a corresponding control signal to the third multi-path modulator, and the third controller further processes the received pressure value and then sends a corresponding control signal to the third multi-path modulator;
the method also comprises a sixth step and a seventh step;
after demodulating the control signal received in the fifth step, the third multiplexer outputs the electric signal related to the temperature to an M2 (1 is more than or equal to M2 is more than or equal to N4) small excitation electrode layer unit corresponding to the Mth small electrode of the first electrode layer, and outputs the electric signal related to the pressure to an S2 (1 is more than or equal to S2 is more than or equal to N4) small excitation electrode layer unit corresponding to the S small electrode of the third electrode layer;
the seventh, M2 th and S2 th small excitation electrode layer units respectively emit corresponding electric signals and output the electric signals to the signal input ends of the respective connecting/mounting parts.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the technical progress that:
(1) the invention provides a structure of artificial intelligence skin based on a thermistor material layer and a piezoelectric material layer, which is pioneering in the field of artificial intelligence skin;
(2) the composite signal acquisition layer is adopted to acquire signals, which is equivalent to sensing two signals by one sensor, and the composite signal acquisition layer has a simple structure and is easy to expand to a large area;
(3) the thermistor material layer and the piezoelectric material layer are made of flexible materials, so that the effect of flexible skin can be achieved;
(4) the thermistor material layer and the piezoelectric material layer are made of non-toxic materials suitable for human bodies and used for replacing necrotic skin of patients;
(5) the first electrode layer, the second electrode layer and the third electrode layer can comprise a plurality of small electrode layers, and the resolution of the signal generation position on the surface of the artificial skin is high;
(6) the invention provides two rear-end circuit structures which are used for processing signals acquired by a signal acquisition layer, and the processing process is intelligent and efficient;
(7) the invention has low energy consumption and low cost, and is beneficial to popularization;
the invention is suitable for being used as the outer skin of robots and mechanical arms to replace necrotic skin of patients.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic view of a partial structure of a signal acquisition section according to embodiments 1 and 2 of the present invention;
FIG. 2 is another partial schematic view of a signal acquisition section according to embodiments 1 and 2 of the present invention;
fig. 3 is an electrical schematic diagram of embodiment 1 of the present invention employing a first back-end circuit;
fig. 4 is an electrical schematic diagram of embodiment 1 of the present invention employing a second back-end circuit;
fig. 5 is an electrical schematic diagram of embodiment 2 of the present invention, which employs a first back-end circuit;
fig. 6 is an electrical schematic diagram of embodiment 2 of the present invention employing a second back-end circuit.
In the figure: 1. device protective layer, 2, first electrode layer, 3, thermistor material layer, 4, second electrode layer, 5, piezoelectric material layer, 6, third electrode layer.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.
Example 1 an artificial intelligence skin based on piezoelectric and thermistor materials
The embodiment is a mechanical arm of a remote medical machine, which is provided with an artificial intelligence skin based on a piezoelectric material and a thermistor material, wherein the skin comprises a signal acquisition part and a circuit part;
one) signal acquisition part
The signal acquisition part comprises a device protective layer 1 and a composite signal acquisition layer arranged below the device protective layer 1;
referring to fig. 1, the composite signal acquisition layer is composed of a first electrode layer 2, a thermistor material layer 3, a second electrode layer 4, a piezoelectric material layer 5 and a third electrode layer 6 which are sequentially arranged from top to bottom;
the first electrode layer 2, the thermistor material layer 3 and the second electrode layer 4 together constitute a temperature detection layer, and the second electrode layer 4, the piezoelectric material layer 5 and the third electrode layer 6 together constitute a pressure detection layer;
wherein the first electrode layer 2 comprises N1 (N1 is more than or equal to 1) small electrodes, and the third electrode layer 6 comprises N2 (N2 is more than or equal to 1) small electrodes respectively;
two) circuit part
The circuit part comprises a front-end circuit and a back-end circuit;
referring to fig. 3, the front-end circuit includes a first controller and a first multiplexer, and a control signal output end of the first controller is connected to a signal input end of the N1 small electrodes included in the first electrode layer 2 and a signal input end of the second electrode layer 4 through the first multiplexer respectively;
the back-end circuit comprises a first multi-channel demodulator, a filtering unit, a first analog-to-digital conversion unit and a first central processing unit which are sequentially connected in series, wherein the filtering unit comprises a low-pass filter and a high-pass filter which are connected in parallel, and the first analog-to-digital conversion unit comprises a first analog-to-digital converter and a second analog-to-digital converter;
the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the filtering unit through a first multi-channel demodulator, and the signal output end of the low-pass filter is connected with the first central processing unit through a first analog-to-digital converter and the signal output end of the high-pass filter is connected with the second central processing unit through a second analog-to-digital converter.
The composite signal acquisition layer of the embodiment can also adopt another structure, referring to fig. 2, the structure is composed of a third electrode layer 6, a piezoelectric material layer 5, a second electrode layer 4, a thermistor material layer 3 and a first electrode layer 2 which are sequentially arranged from top to bottom, the third electrode layer 6, the piezoelectric material layer 5 and the second electrode layer 4 together form a pressure detection layer, the second electrode layer 4, the thermistor material layer 3 and the first electrode layer 2 together form a temperature detection layer, wherein the first electrode layer 2 comprises N1 (N1 is greater than or equal to 1) small electrodes, and the third electrode layer 6 comprises N2 (N2 is greater than or equal to 1) small electrodes.
In this embodiment, the back-end circuit may also adopt a second structure, and referring to fig. 4, the back-end circuit includes a second multi-path demodulator, a second analog-to-digital conversion unit, and a second central processing unit, which are sequentially connected in series; and the signal output ends of the temperature detection layer and the pressure detection layer are connected with the signal input end of the second analog-to-digital conversion unit through a second multi-path demodulator.
In this embodiment, the cut-off frequency of the low-pass filter is 10Hz, and the cut-off frequency of the high-pass filter is 100 Hz.
The embodiment is suitable for manufacturing teaching demonstration devices, the outer skins of robots and the like.
Embodiment 2 an artificial intelligence skin
In this embodiment, the back-end circuit is further optimized based on the artificial intelligence skin in embodiment 1, and referring to fig. 5, the back-end circuit further includes a second controller, a second multiplexer, and a first excitation electrode layer based on fig. 3; the signal output end of the first central processing unit is connected with the signal input end of the second controller, the control signal output end of the second controller is connected with the signal input end of the first excitation electrode layer through the second multiplexer, the first excitation electrode layer comprises N3 small excitation electrode layer units, N3 is larger than or equal to 1, and N3 is the maximum value of N1 and N2.
Referring to fig. 6, on the basis of fig. 4, the back-end circuit of the second structure further includes a third controller, a third multiplexer, and a second excitation electrode layer; the signal output end of the second central processing unit is connected with the signal input end of a third controller, the control signal output end of the third controller is connected with the signal input end of a second excitation electrode layer through a third multiplexer, the second excitation electrode layer comprises N4 small excitation electrode layer units, N4 is larger than or equal to 1, and N4 is the maximum value of N1 and N2.
This embodiment is suitable for replacing necrotic skin in a patient, where the first/second stimulation electrode layers are connected to the neuronal cells to be stimulated according to different applications, such as in a cochlear implant, where the first/second stimulation electrode layers are connected to the auditory nerve.
Example 3A method for measuring pressure and temperature
This embodiment is implemented by embodiment 1, and when the backend circuit described in fig. 3 is used, the method is a first method, and includes the following steps that are performed in sequence:
firstly, a direct current voltage/current signal is output to a first multiplexer through a first controller, and the first multiplexer modulates the received direct current voltage/current signal and outputs the modulated direct current voltage/current signal to a first electrode layer 2 and a second electrode layer 4;
when the mechanical arm contacts the body of a patient, the part of the mechanical arm contacting the body of the patient is supposed to correspond to the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer 2 and the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer 6, at this time, the temperature of the outer surface of the mechanical arm corresponding to the Mth small electrode of the first electrode layer 2 changes, the resistivity of the thermistor material layer 3 changes, the Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer 4 and the thermistor material layer 3 outputs a direct current analog electric signal containing the resistivity change to the first multi-channel demodulator, meanwhile, the pressure of the outer surface of the mechanical arm corresponding to the S small electrode of the third electrode layer 6 changes, the surface of the piezoelectric material layer 5 generates electric charges and further forms an alternating current analog electric signal, and the S pressure detection layer unit consisting of the S small electrode, the second electrode layer 4 and the piezoelectric material A path demodulator;
the first multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to the filtering unit;
the filtering unit processes the received mixed analog electric signal through a low-pass filter to obtain a direct-current analog electric signal containing resistivity change and outputs the direct-current analog electric signal to the first analog-to-digital converter, and the filtering unit processes the received mixed analog electric signal through a high-pass filter to obtain an alternating-current analog electric signal related to pressure and outputs the alternating-current analog electric signal to the second analog-to-digital converter;
thirdly, the first analog-to-digital converter converts the received direct current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit, and the second analog-to-digital converter converts the received alternating current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit;
fourthly, the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value near the mechanical arm corresponding to the Mth small electrode of the first electrode layer 2, and the first central processing unit calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value of the outer surface of the mechanical arm corresponding to the Sth small electrode of the third electrode layer 6;
fifthly, the first central processing unit performs corresponding feedback according to the temperature value and the pressure value obtained through calculation processing; for example, if the pressure signal is too large, the information may be fed back to the doctor by display, sound, vibration, etc. to cause pain to the patient, if the patient is too hot, the doctor may be prompted, or the operator may evaluate the condition of the patient by the returned pressure signal and temperature signal.
When the back-end circuit shown in fig. 4 is used as the back-end circuit, the method is method two, the front-end circuit and the signal acquisition part used in method one and method two have the same hardware structure, and the signal acquisition process is also the same, except for the difference in the back-end circuit structure and the signal processing, and the method includes the following steps that are sequentially performed:
firstly, a direct current voltage/current signal is output to a first multiplexer through a first controller, and the first multiplexer modulates the received direct current voltage/current signal and outputs the modulated direct current voltage/current signal to a first electrode layer 2 and a second electrode layer 4;
when the mechanical arm contacts the body of the patient, the parts of the mechanical arm contacting the body of the patient are assumed to respectively correspond to the Mth small electrode of the first electrode layer 2 and the Sth small electrode of the third electrode layer 6, at this time, the temperature of the outer surface of the mechanical arm corresponding to the Mth small electrode of the first electrode layer 2 changes, the resistivity of the thermistor material layer 3 changes, the Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer 4 and the thermistor material layer 3 outputs a direct current analog electric signal containing resistivity change to the second multi-channel demodulator, meanwhile, the pressure of the outer surface of the mechanical arm corresponding to the S-th small electrode of the third electrode layer 6 changes, the surface of the piezoelectric material layer 5 generates charges and further forms an alternating current analog electric signal, and an S-th pressure detection layer unit consisting of the S-th small electrode, the second electrode layer 4 and the piezoelectric material layer 5 outputs the alternating current analog electric signal to a second multi-channel demodulator;
the second multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to a second analog-to-digital conversion unit;
the second analog-to-digital conversion unit converts the received mixed analog electric signal containing the direct current analog electric signal and the alternating current analog electric signal into a digital signal and outputs the digital signal to a second central processing unit;
thirdly, the second central processing unit processes the received digital signals by utilizing a low-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing temperature information, and the second central processing unit processes the received digital signals by utilizing a high-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing pressure information;
wherein the cut-off frequency of the low-pass filtering algorithm is 10Hz, and the cut-off frequency of the high-pass filtering algorithm is 100 Hz;
fourthly, the second central processing calculates the digital signal containing the temperature information obtained in the third step to obtain a temperature value of the outer surface of the mechanical arm corresponding to the Mth small electrode of the first electrode layer 2, and the second central processing calculates the digital signal containing the pressure information obtained in the third step to obtain a pressure value of the outer surface of the mechanical arm corresponding to the Sth small electrode of the third electrode layer 6;
and fifthly, the second central processing unit performs corresponding feedback according to the temperature value and the pressure value obtained through calculation and processing, for example, if the pressure signal is too large, the information which may cause pain of the patient is fed back to the doctor through display, sound, vibration and the like, and if the temperature of the patient is too high, the doctor is prompted, or the operator is evaluated for the state of illness through the returned pressure signal and the returned temperature signal.
In this embodiment, M and S may be equal or unequal, and, in actual use, often, at the same time, temperature change is not detected by only one small electrode in the temperature detection layer, but a plurality of small electrodes work together, the whole back-end circuit can process a plurality of temperature signals together, pressure change is not detected by only one small electrode in the same pressure detection layer, but a plurality of small electrodes work together, and the whole back-end circuit can process a plurality of pressure signals together.
Example 4A method for measuring pressure and temperature
This embodiment is implemented by embodiment 2, and when the back-end circuit shown in fig. 5 is used, it includes the following steps performed in sequence:
firstly, a direct current voltage/current signal is output to a first multiplexer through a first controller, and the first multiplexer modulates the received direct current voltage/current signal and outputs the modulated direct current voltage/current signal to a first electrode layer 2 and a second electrode layer 4;
when the temperature near the artificial intelligence skin corresponding to the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer 2 changes, the resistivity of the thermistor material layer 3 changes, the Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer 4 and the thermistor material layer 3 outputs a direct current analog electric signal containing the resistivity change to the first multi-channel demodulator, when the pressure of the outer surface of the artificial intelligence skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer 6 changes, the surface of the piezoelectric material layer 5 generates electric charges and further forms an alternating current analog electric signal, and the S-th pressure detection layer unit consisting of the S-th small electrode, the second electrode layer 4 and the piezoelectric material layer 5 outputs the alternating current analog electric signal to the first multi-channel demodulator;
the first multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to the filtering unit;
the filtering unit processes the received mixed analog electric signal through a low-pass filter to obtain a direct-current analog electric signal containing resistivity change and outputs the direct-current analog electric signal to the first analog-to-digital converter, and the filtering unit processes the received mixed analog electric signal through a high-pass filter to obtain an alternating-current analog electric signal related to pressure and outputs the alternating-current analog electric signal to the second analog-to-digital converter;
the first analog-to-digital converter converts the received direct-current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit, and the second analog-to-digital conversion unit converts the received alternating-current analog electric signal into a digital signal and outputs the digital signal to the first central processing unit;
fourthly, the first central processing unit calculates and processes the digital electric signal received from the first analog-to-digital converter to obtain a temperature value of the outer surface of the artificial intelligence skin corresponding to the Mth small electrode of the first electrode layer 2, outputs the temperature value to the second controller, calculates and processes the digital signal received from the second analog-to-digital converter to obtain a pressure value of the outer surface of the artificial intelligence skin corresponding to the Sth small electrode of the third electrode layer 6, and outputs the pressure value to the second controller;
fifthly, the second controller further processes the received temperature value and then sends a corresponding control signal to the second multi-channel modulator, and the second controller further processes the received pressure value and then sends a corresponding control signal to the second multi-channel modulator;
after demodulating the control signal received in the fifth step, the second multiplexer outputs the electric signal related to the temperature to an M1 (1 is more than or equal to M1 is more than or equal to N3) small excitation electrode layer unit corresponding to the Mth small electrode of the first electrode layer 2, and outputs the electric signal related to the pressure to an S1 (1 is more than or equal to S1 is more than or equal to N3) small excitation electrode layer unit corresponding to the S small electrode of the third electrode layer 6;
seventhly, the M1 th small excitation electrode layer unit and the S1 th small excitation electrode layer unit respectively send corresponding electric signals and output the electric signals to the signal input ends of the connected/installed parts respectively;
for example, the artificial skin is arranged on the left arm, the exciting electrode can be arranged on the right arm, and when force is exerted on the artificial skin, the exciting electrode arranged on the right arm applies an electric signal to the corresponding position of the right arm to inform the signal exerted on the artificial skin of the left arm;
the first stimulation electrode layer may also be connected to the neuronal cells according to different applications, for example, in cochlear implants, the first stimulation electrode layer is connected to the auditory nerve.
When the back-end circuit shown in fig. 6 is used, the method is method two, the hardware structures of the front-end circuit, the signal acquisition part and the circuit behind the central processing unit used in method one and method two are completely the same, the signal acquisition process is also completely the same, and only there are differences in the back-end circuit structure and signal processing, and the method includes the following steps that are sequentially performed:
firstly, a direct current voltage/current signal is output to a first multiplexer through a first controller, and the first multiplexer modulates the received direct current voltage/current signal and outputs the modulated direct current voltage/current signal to a first electrode layer 2 and a second electrode layer 4;
when the temperature of the outer surface of the artificial intelligence skin corresponding to the Mth (M is more than or equal to 1 and less than or equal to N1) small electrode of the first electrode layer 2 changes, the resistivity of the thermistor material layer 3 changes, a Mth temperature detection layer unit consisting of the Mth small electrode, the second electrode layer 4 and the thermistor material layer 3 outputs a direct current analog electric signal containing the resistivity change to the second multi-channel demodulator, when the pressure of the outer surface of the artificial intelligence skin corresponding to the S (S is more than or equal to 1 and less than or equal to N2) small electrode of the third electrode layer 6 changes, the surface of the piezoelectric material layer 5 generates charges and further forms an alternating current analog electric signal, and an Sth pressure detection layer unit consisting of the Sth small electrode, the second electrode layer 4 and the piezoelectric material layer 5 outputs the alternating current analog electric signal to the second multi-channel demodulator;
the second multi-channel demodulator demodulates the received mixed analog electric signal and outputs the demodulated mixed analog electric signal to a second analog-to-digital conversion unit;
the second analog-to-digital conversion unit converts the received mixed analog electric signal containing the direct current analog electric signal and the alternating current analog electric signal into a digital signal and outputs the digital signal to a second central processing unit;
thirdly, the second central processing unit processes the received digital signals by utilizing a low-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing temperature information, and the second central processing unit processes the received digital signals by utilizing a high-pass filtering algorithm stored by the second central processing unit to obtain digital signals containing pressure information;
wherein the cut-off frequency of the low-pass filtering algorithm is 10Hz, and the cut-off frequency of the high-pass filtering algorithm is 100 Hz;
fourthly, the second central processing calculates the digital signal containing the temperature information obtained in the third step to obtain a temperature value of the outer surface of the artificial intelligence skin corresponding to the Mth small electrode of the first electrode layer 2 and outputs the temperature value to the third controller, and the second central processing calculates the digital signal containing the pressure information obtained in the third step to obtain a pressure value of the outer surface of the artificial intelligence skin corresponding to the Sth small electrode of the third electrode layer 6 and outputs the pressure value to the third controller;
fifthly, the third controller further processes the received temperature value and then sends a corresponding control signal to the third multi-channel modulator, and the third controller further processes the received pressure value and then sends a corresponding control signal to the third multi-channel modulator;
after demodulating the control signal received in the fifth step, the third multiplexer outputs the electric signal related to the temperature to the M2 (1 is more than or equal to M2 is more than or equal to N4) small excitation electrode layer unit corresponding to the Mth small electrode of the first electrode layer 2, and outputs the electric signal related to the pressure to the S2 (1 is more than or equal to S2 is more than or equal to N4) small excitation electrode layer unit corresponding to the S small electrode of the third electrode layer 6;
seventhly, the M2 th small excitation electrode layer unit and the S2 th small excitation electrode layer unit respectively send corresponding electric signals and output the electric signals to the signal input ends of the connected/installed parts respectively;
for example, the artificial skin is arranged on the left arm, the exciting electrode can be arranged on the right arm, and when force is exerted on the artificial skin, the exciting electrode arranged on the right arm applies an electric signal to the corresponding position of the right arm to inform the brain of the signal exerted on the artificial skin on the left arm;
the first stimulation electrode layer may also be connected to the neuronal cells according to different applications, for example, in cochlear implants, the first stimulation electrode layer is connected to the auditory nerve.
In this embodiment, M and S may be equal or unequal, and, in actual use, often, at the same time, temperature changes are not detected by only one small electrode in the temperature detection layer, the whole back-end circuit may process a plurality of temperature signals together, but a plurality of small electrodes work together, pressure changes are not detected by only one small electrode in the same pressure detection layer, but a plurality of small electrodes work together, and the whole back-end circuit may process a plurality of pressure signals together.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.