CN103239307B - Method for detecting load bearing efficiency for power-assisted exoskeletons - Google Patents
Method for detecting load bearing efficiency for power-assisted exoskeletons Download PDFInfo
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- CN103239307B CN103239307B CN201310143377.8A CN201310143377A CN103239307B CN 103239307 B CN103239307 B CN 103239307B CN 201310143377 A CN201310143377 A CN 201310143377A CN 103239307 B CN103239307 B CN 103239307B
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Abstract
The invention discloses a method for detecting load bearing for power-assisted exoskeletons. The method includes arranging two pin type load sensors on a hip joint and an ankle joint of the exoskeletons respectively to have the two joints connected so as to detect vertical load of the joints; comparing difference of detected data by the sensors with dead load of a lower limb structure of the exoskeletons to determine whether the detected data are accurate or not; and if yes, subtracting dead load above the ankle joint of the exoskeletons from the detected date of the ankle joint to obtain a value, and subjecting the value to be divided by load bearing to obtain a ratio, namely loading efficiency of the exoskeletons.
Description
Technical field
The present invention relates to the design of frame for movement and load test device, particularly relate to a kind of for assistance type ectoskeletal heavy burden load-carrying efficiency checkout gear, by skeletal joint outside, load transducer is set for detecting vertical load, then calculates ectoskeletal load-carrying efficiency by data analysis.
Background technology
People's exoskeleton is the Intelligentized mechanical equipment based on the research and development of coupled Systems Theory, and this equipment has carried out comparatively universal promotion and application in u.s.a. military affairs field.The main target that people's exoskeleton manufactures and designs effectively supports heavy burden load, and the loading weight of the overwhelming majority is reached ground, and human body self only need bear the heavy burden of small part vertically to load.Meanwhile, people's exoskeleton also can help climber and outdoor sports person to promote single heavy burden ability, and provide support, loss of weight, the function such as joint protection.
For ensure human body and ectoskeleton do not have at the volley man-machine between dyskinesia, ectoskeleton designs in strict accordance with the structure of skeleton, joint and muscle systems, according to the bone of body structural design back frame structure of human body, according to the hip joint structural design ectoskeleton hip structure of human body, ectoskeletal lower limb bearing structure is designed according to the thigh of human body, shank and ankle-joint, therefore in ectoskeletal overall structure, three important joints are contained, i.e. hip joint, knee joint and ankle-joint.By these three joints, ectoskeletal back frame structure, hip structure, lower limb bearing structure are connected reliably with footwear body.Therefore, in ectoskeletal structural design, the connection of each joint should carry vertical load, can meet the needs of human motion again, and each joint needs certain free degree.Under this conflicting function, can each joint carry out the transmission of load smoothly, becomes the joint link of ectoskeleton research.
In the past in the ectoskeletal research of human body, research contents mainly concentrates on the fields such as the bionical and structural strength of control system, signal processing system, mechanism, and ignore the research of load-carrying efficiency, make in ectoskeletal research, cause the stressed of each joint and integrally-built stressing conditions ambiguity solution, cause difficulty to the research of the Power output needed for the modeling of the design of frame for movement and control system and dynamical system.
Summary of the invention
In view of the above deficiency of prior art, the object of the invention is propose a kind of newly for assistance type ectoskeletal heavy burden load-carrying efficiency detection method, by arranging pin type load transducer at hip joint and ankle, joint connectivity problem can be solved, also for the research of joint mechanics provides technical support; Simultaneously by the comparison of two measured sensor data, judge that whether test data is reasonable, and the data of test data and heavy burden are calculated, thus calculate ectoskeletal heavy burden load-carrying efficiency.Its concrete means adopt:
A kind of assistance type ectoskeleton heavy burden load-carrying efficiency detection method, arranges pin type load transducer 1 at ectoskeletal hip joint, arranges pin type load transducer 2 at ankle-joint; The summation acting as the ectoskeletal deadweight of more than detection hip joint and heavy burden of hip joint load transducer, the effect of ankle-joint load transducer is the summation detecting the ectoskeletal deadweight of more than ankle-joint and heavy burden, and both differences are the deadweight of ectoskeleton thigh, shank and hydraulic cylinder.
The present invention, by arranging at hip joint place the connection that pin type load transducer realizes hip structure and thigh, realizes joint and connects, and can test the vertical load being passed to thigh; Pin type load transducer is set in ankle, realizes the connection of shank and footwear body, and can the vertical load being passed to footwear body be tested; By the contrast of two measured sensor data, the accuracy of test data is judged; Judicious ankle-joint test data is deducted exoskeleton ankle joint with the deadweight of upper part, then by the data after computing divided by heavy burden, draws ectoskeletal load-carrying efficiency.
The course of work of the present invention:
Composition graphs 1 can be seen, the tie point of hip structure and thigh is hip joint, this arrange pin type load transducer realize both connection, and the vertical load that hip joint bears can be tested; The tie point of shank and footwear body is ankle-joint, arranges pin type load transducer at this, the vertical load that test ankle-joint bears.
Composition graphs 2 can be seen, hip joint pin type load transducer is cylindrical structure, intermediate cylindrical portion is arranged with square projection, size and the consistent size being connected flat key, can limiting sensor relative to the rotary freedom of lower end mount pad, sensor one end is flange arrangement, the cable of sensor thus end face connects, the sensor other end is provided with seam, for installing shaft block ring, and the axial displacement of limiting sensor.
Composition graphs 3 can be seen, the pin type load transducer principle of ankle is consistent with service condition and hip joint, just the length of two sensors is different due to the installation dimension difference of residing joint, and the length of ankle-joint sensor is greater than the length of hip joint sensor.
Composition graphs 4 can be seen, the test data of the pin type sensor of hip joint and ankle is contrasted, if its difference is consistent with the deadweight of exoskeleton lower limbs structure, then illustrates that test data is credible, if both are inconsistent, then select one group of test data else and contrast; Ankle is judged qualified data deduct ectoskeletal deadweight, the data obtained is divided by heavy burden, and ratio is ectoskeletal load-carrying efficiency.
Be applied to assistance type ectoskeletal heavy burden load-carrying efficiency detection method by this, the connection of ectoskeleton hip joint and ankle-joint can be realized, and pass through the comparison of test and calculate ectoskeletal load-carrying efficiency.
Accompanying drawing explanation
Fig. 1 is installation diagram and A-A, B-B sectional view of the pin type sensor of ectoskeleton one-sided configuration hip joint and ankle.
Fig. 2 is the A-A sectional view of Fig. 1.
Fig. 3 is the B-B sectional view of Fig. 1.
Fig. 4 is the front view of hip joint pin type load transducer.
Fig. 5 is the side view of Fig. 4.
Fig. 6 is the front view side view of ankle-joint pin type load transducer.
Fig. 7 is the side view of Fig. 6.
Fig. 8 is ectoskeleton load-carrying efficiency computing block diagram.
Detailed description of the invention
Embodiment one
Fig. 1-Fig. 3 illustrates, a kind of embodiment of the present invention is:
The test data of the detection Main Basis hip joint of the ectoskeletal heavy burden load-carrying efficiency of assistance type and the pin type load transducer of ankle and calculating; Hip joint place arranges pin type load transducer and realizes joint connection, can test the vertical load that joint bears; Ankle also arranges pin type load transducer and realizes joint and connect, and can test the vertical load that joint bears.
Fig. 4-Fig. 5 illustrates that hip joint pin type load transducer adopts cylindrical structure, for connecting hip structure and thigh; Sensor intermediate cylindrical portion is arranged with square projection 3, size and the consistent size being connected flat key, can limiting sensor relative to the rotary freedom of lower end mount pad; Sensor one end is flange arrangement, and the cable of sensor thus end face connects, and the sensor other end is provided with seam, for installing shaft block ring, and the axial displacement of limiting sensor.
Fig. 6-Fig. 7 illustrates that ankle-joint pin type load transducer adopts cylindrical structure, for connecting shank and footwear body; Sensor intermediate cylindrical portion is arranged with square projection 4, size and the consistent size being connected flat key, can limiting sensor relative to the rotary freedom of lower end mount pad; Sensor one end is flange arrangement, and the cable of sensor thus end face connects, and the sensor other end is provided with seam, for installing shaft block ring, and the axial displacement of limiting sensor.
Fig. 8 illustrates it is ectoskeleton load-carrying efficiency computing block diagram:
Two pin type load transducers record the vertical load of hip joint and ankle respectively, the test data of two sensors is contrasted, if its difference is consistent with the deadweight summation of the thigh in exoskeleton lower limbs structure, shank and hydraulic cylinder, then illustrate that test data is credible, if both are inconsistent, then select one group of test data else and be analyzed; Ankle is judged qualified data deduct exoskeleton ankle joint with the deadweight of upper part, the data obtained is divided by heavy burden, and its ratio is ectoskeletal load-carrying efficiency.
Claims (2)
1. an assistance type ectoskeleton heavy burden load-carrying efficiency detection method, is characterized in that, arranges pin type load transducer (1) at ectoskeletal hip joint, arranges pin type load transducer (2) at ankle-joint; The summation acting as the ectoskeletal deadweight of more than detection hip joint and heavy burden of hip joint load transducer, the effect of ankle-joint load transducer is the summation detecting the ectoskeletal deadweight of more than ankle-joint and heavy burden, and both differences are the deadweight of ectoskeleton thigh, shank and hydraulic cylinder; When detecting, the detection data of hip joint load transducer and the detection data of ankle-joint load transducer are contrasted, if both differences are the deadweight of ectoskeleton thigh, shank and hydraulic cylinder, then illustrate that two groups of test datas are comparatively accurate, can be used as the data judging ectoskeleton load-carrying efficiency; Ankle-joint test data after contrast is deducted the deadweight at the above position of exoskeleton ankle joint, being bears a heavy burden is passed to the load of ankle-joint; Again by it divided by heavy burden, the percent data of gained is ectoskeletal load-carrying efficiency, is shown below:
2. assistance type ectoskeleton heavy burden load-carrying efficiency detection method according to claim 1, it is characterized in that, hip joint can be connected bearing pin as joint with the pin type load transducer of ankle and use, also can as sensor for testing the vertical load being passed to this joint; Arrange protruding square step in the middle part of sensor, size is consistent with flat key, for the rotation of limiting sensor, sensor can not be rotated relative to the mount pad of below, thus tested vertical load.
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| CN201310143377.8A CN103239307B (en) | 2013-04-24 | 2013-04-24 | Method for detecting load bearing efficiency for power-assisted exoskeletons |
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| CN103239307B true CN103239307B (en) | 2015-03-25 |
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| CN107490470B (en) * | 2017-07-03 | 2018-09-18 | 浙江大学 | A kind of detection method for upper limb ectoskeleton power-assisted efficiency |
| CN110811553B (en) * | 2019-11-01 | 2021-01-15 | 西安交通大学 | Detection method for assistance efficiency of load exoskeleton |
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