Research On Flexible Temperature Sensor For Rehabilitation Robot

With the widespread application of robots in life,service robots such as rehabilitation robots for limb injury rehabilitation,massage robots for physical therapy and health care,and soft robots for surgery have emerged.Each type of robot needs to form a set of perception systems through multiple and multiple sensors to adjust the power output in time to achieve different motion modes.The thin,soft,and high-performance flexible sensor makes the rehabilitation robot lightweight and enhances the ability to interact with patients.For stroke patients,the patient loses control and sensory function of the limbs.During the rehabilitation process,the skin or joints will produce local body temperature changes.When the exercise frequency is too fast or the exercise range is too large,the patient cannot perceive the damage suffered by the affected limb.For secondary injuries,the flexible temperature sensor can monitor the abnormal local body temperature of the affected area,and timely adjust the robot in time.This article is oriented to rehabilitation robots,taking the real-time monitoring of accurate human body temperature as the angle,the purpose is to monitor the abnormal temperature of the patient’s diseased parts during the rehabilitation process,to more effectively control the robot’s movement and make the rehabilitation process intelligent.This article focuses on the research of flexible temperature sensors,using poly 3,4-ethylenedioxythiophene/polystyrene sulfonate（PEDOT:PSS）,carbon nanotubes（CNTs）,and reduced graphene oxide（r GO）to form a composite film,The thin film is laser cut into a ductile serpentine structure,and after connecting the electrodes,it is encapsulated with polyimide（PI）to prepare a flexible,highly sensitive,anti-interference,high-precision,sustainable and stable use Temperature Sensor.The preparation process has the characteristics of not involving dangerous chemicals,a simple process,and easy operation.Aiming at the important performance indicators of the flexible sensor prepared based on the PEDOT:PSS-CNTs-r GO composite material,the sensitivity,delay,linearity,response time,anti-interference ability,and repeatability of the sensor are tested accordingly.The results show that the flexibility The maximum sensitivity of the sensor is 0.9125%℃^-1,which is better than the current sensors of similar materials.The sensor has a maximum hysteresis of 4.33%,repeatability of more than 2000 times,linearity of 99.86%,and a response time within 5 s.Under pressure and bending,it still maintains the same temperature sensing characteristics and has an excellent anti-interference ability.This paper verifies through experiments that the flexible sensor can accurately monitor the tiny temperature of the oral cavity and nasal cavity;it has good biocompatibility and can accurately distinguish the temperature of multiple parts of the human body.Compared with the result of an infrared thermometer,the measured value The difference is stable within 0.1℃.After the flexible temperature sensor is arrayed,the contour of the temperature object can be clearly distinguished.In addition to accurate monitoring of body temperature,the sensor also shows good thermal sensitivity to temperatures ranging from 0 to 90℃,has a large monitoring temperature range and can be adapted to a variety of temperature measurement scenarios.It demonstrates the practical application potential of flexible temperature sensors in rehabilitation robots,health monitoring,and flexible electronic skin.