Detecting bends and fabric folds using stitched sensors

In this paper we describe a novel method for detecting bends and folds in fabric structures. Bending and folding can be used to detect human joint angles directly, or to detect possible errors in the signals of other joint-movement sensors due to fabric folding. Detection is achieved through measuring changes in the resistance of a complex stitch, formed by an industrial coverstitch machine using an un-insulated conductive yarn, on the surface of the fabric. We evaluate self-intersecting folds which cause short-circuits in the sensor, creating a quasi-binary resistance response, and non-contact bends, which deform the stitch structure and result in a more linear response. Folds and bends created by human movement were measured on the dorsal and lateral knee of both a robotic mannequin and a human. Preliminary results are promising. Both dorsal and lateral stitches showed repeatable characteristics during testing on a mechanical mannequin and a human.