I have not posted in a while here... anyway ... I wrote a report to wrap up everything I have done so far before I go off to Canada... I'll upload it somewhere... this here is the part that is probably most interesting for most people... (its not 1 to 1 the way it'll be in my final report, but close enough...)
Stretch Sensors
The stretch sensors I use are made of conductive plastic material which changes its resistance depending on the amount it is stretched. This material is produced by the American company Images and can be bought directly at their webshop or at shops such as the RobotShop. The material is approximately 2mm in diameter and can be stretched up to 175%.
Basically I want to capture body movement, which is induced by muscles. Muscles are linear actuators; the only movement which they can perform is expanding or contracting. This implies, that all movements of the body are measurable in terms of contracting (flexing) or expanding (relaxing) of the muscle by stretch sensors.
Basically I want to capture body movement, which is induced by muscles. Muscles are linear actuators; the only movement which they can perform is expanding or contracting. This implies, that all movements of the body are measurable in terms of contracting (flexing) or expanding (relaxing) of the muscle by stretch sensors.
Angular Movement (Elbow and Shoulder)
The axis of rotation is inaccessible which would be a problem for most sensor types. However, the fact that the attachment points vary in distance to each other (when measured around the elbow as seen in the following picture) is actually of benefit for this sensor. In the elbow the Triceps Brachii is the main muscle controlling the elbows motion and takes advantage of this very principle. The stretch sensor basically copies the Triceps motion. The following two graphs compare the stretch sensor with the flex sensor. You can see that the flex sensor requires a sliding attachment while the stretch sensor can be permanently attached due to its elasticity.
Capturing angular movement with flex and stretch sensor (sharp angle, Tricaps Brachii relaxed)
Capturing angular movement with flex and stretch sensor (blunt angle, Triceps Brachii flexed)
Rotational Movement (Rotation of upper and lower arm)
The fact that the rotational axis is not accessible is of no relevance to the stretch sensor as we are not interested in measuring the actual rotation. What is measured is the distance between the two attachment points. From this one can then make inferences on the rotation of the arm. This method works analogue to the Pronator Teres in the lower arm, which by flexing or relaxing dictates the rotation of the wrist. The following two graphs demonstrate how rotating the arm is merely a change in distance between two attachment points.
Measuring rotation with stretch sensor (Pronator Teres flexed)
Keine Kommentare:
Kommentar veröffentlichen