Fund Project: Henan Provincial Department of Education Science and Technology Research Key Project (12A460008); Henan Key Science and Technology Research Project (112102210104); Henan Province Innovation and Technology Team (Yukeren Group (2011) No. 3-39); Henan Provincial Higher Education, The shape is tubular, and the inner cavity is divided into three fan-shaped air chambers of 120 each other. The flexible actuator includes a rubber tube and a reinforcing fiber strand that is helically embedded within the circumference of the rubber tube. The material of the rubber tube is silicone rubber, and the fiber line is a fine fiber made of nylon. The fiber strands are used to limit the radial increase of the rubber tube during venting, causing the flexible actuator to elongate in the axial direction. Both ends of the rubber tube are sealed by a strong rubber by the front end cover and the rear end cover, respectively. The front end cover simulates the shape design of the human finger, is made of polyester material, and the surface is attached with a pressure sensor array to obtain the original pressure data of the pulse wave, and is transmitted to the control system through the wire on the front end cover for pulse characteristic extraction analysis. Because of the correlation between the various pressure sensors in the pressure sensor array, the pulse wave under a certain pressure sensor contributes to its own pressure information, and also affects other pressure sensors. By using these mutual influence information, Accurately realize the pressure information collection process similar to the doctor's finger. The rear end cover is fixed on the pulse diagnosis device bracket by flat keys and screws, and the rear end cover is provided with an intake pipe, and gas of different pressure can be input into each fan-shaped gas chamber to change the flexible actuator to simultaneously add three equal chambers to the three gas chambers. When the pressure is applied, the flexible actuator is elongated in the axial direction to change the pulse pressure. Assuming no energy loss and energy storage, the flexible actuator performs the end face stress as follows: the initial average radius of the flexible actuator, Tk is the thickness of the rubber tube, Tr is the inner wall thickness of the inner chamber rubber, p and the gas pressure of the inner chamber respectively At atmospheric pressure, F is the output force of the flexible actuator.

Where: E is the elastic modulus of the rubber tube. The rubber tube strain is: where: L. and L are the original length and the changed length of the flexible actuator, respectively.

3.3 Bending motion analysis When only one air chamber is pressurized, or the pressure is different from the other two chamber pressures, the flexible actuator will bend, as shown, to achieve steering drive, to achieve adjustment of the pulse diagnosis contact position. The flexible actuator is driven in the spatial direction by adjusting the pressure of the three plenum airs. Assuming that the deformation of the bending motion is small and has a certain curvature, the deformation can be described by three parameters, A and A. The direction of the bend is the angle between the x-axis and the axis, the coordinate system O-xyz is fixed to the bottom end of the flexible actuator, the axis is the projection of the central axis of the flexible actuator in the xy plane, and the radius of curvature of the central axis, A is the angle between the z-axis and the bending direction of the end of the flexible actuator. By applying the principle of infinitesimal deformation and the motion vector equivalence of the flexible actuator in plane bending, the relationship between the parameter heart and the pressure of A and each chamber can be obtained: VI-L two rubber tube elastic modulus; Flexible actuator moment of inertia; Ap is the pressure area of ​​3 air chambers; 4 is the cross-sectional area of ​​the rubber tube; 5 is the distance from the center of the flexible actuator to the center of each air chamber sector.

The position of the actuator end of the flexible actuator is expressed in Cartesian coordinates by the cylinder coordinate conversion formula: 4 The pressure required to control and maintain the movement of the flexible actuator in the pulse system of the pneumatic system is a pneumatic system. The pneumatic system includes a gas source and respective gas paths connecting the gas source and the gas chamber in each of the flexible actuators, such as a gas source including an air compressor, a gas cylinder, a pressure gauge, and a flow indicator, providing the flexible actuator The high pressure gas required. The three gas paths are respectively connected to the three gas chambers of the flexible actuator, and the electromagnetic circuit group is provided on the gas path. In each solenoid valve group, the two-position three-way solenoid valve is connected to the air source part, one is connected to the flow control valve, the other is connected to the two-position two-way solenoid valve, and the other end of the two-position two-way solenoid valve is connected to the atmosphere through the exhaust pipe. Each solenoid valve control pneumatic system achieves three states: pressurization, hold and depressurization. When the two-position three-way solenoid valve is turned on and the two-position two-way solenoid valve is disconnected, the pressure of the flexible actuator inner cavity is achieved, so that the pressure sensor continuously searches for the optimal pulse-taking position; when the two-position three-way When the solenoid valve and the two-position two-way solenoid valve are both disconnected, the pressure maintenance of the flexible actuator can be realized, and the pulse data can be collected; when the two-position three-way solenoid valve is disconnected and the two-position two-way solenoid valve is turned on, The release of high pressure gas to the outside can reduce the pressure of the flexible actuator lumen and end the pulse collection.

5 Conclusion The pneumatic flexible intelligent pulse diagnosis instrument introduced is mainly developed as a special equipment for pulse detection. Flexible actuators with pneumatic technology move the sensor movement at the front end as needed to find the optimal pulse pressure and position. The use of pneumatic flexible pulse diagnosis instrument can make the movement closer to the real movement of the doctor's cut pulse. This result has positive guiding significance for the objective research of pulse diagnosis.

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