CN104180932A - Distributed interaction force measuring device and method - Google Patents
Distributed interaction force measuring device and method Download PDFInfo
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- CN104180932A CN104180932A CN201410416190.5A CN201410416190A CN104180932A CN 104180932 A CN104180932 A CN 104180932A CN 201410416190 A CN201410416190 A CN 201410416190A CN 104180932 A CN104180932 A CN 104180932A
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Abstract
The invention relates to a human body exoskeleton robot, in particular to a distribution interaction force measuring device and method. The device comprises a cantilever beam array (1), a robot exoskeleton (2) and a binding device (3), wherein one side of the outer wall of the binding device (3) is fixedly connected with the robot exoskeleton (2), the cantilever beam array (1) is arranged on the inner wall of the binding device (3), the cantilever beam array (1) is formed by an amplification circuit board (4) and cantilever beams (5) fixedly connected to the amplification circuit board (4), and each cantilever beam (5) is formed by fixedly connecting a Z-shaped polyterafluoroethylene block (7) between two connecting pieces (6). According to the distribution interaction force measuring device and method, installation space is greatly saved, and a wearer can wear the distribution interaction force measuring device more conveniently; precision processing is not needed, and cost is greatly saved; the function of evaluation with higher guiding significance can be achieved, and the distribution interaction force measuring device and method can be used for optimization design of the binding structure of the exoskeleton robot.
Description
Technical field
The present invention relates to human body exoskeleton robot, be specifically related to a kind of distributed interactive force measuring device and measuring method thereof.
Background technology
In the field that manufactures and designs of human body exoskeleton robot, the distribution situation of the reciprocal force of exoskeleton and human body is whether to dress one of comfortable standard as assessment exoskeleton.
Current immediate technology is a kind of six-dimension force sensor, also be a kind of measurement mechanism for measuring contact force, pulling force or reciprocal force, this six-dimension force sensor arranges elastic contact body in three directions, measures the size and Orientation of this reciprocal force in volume coordinate by measuring the deformation of this elastic contact body.
The major defect of six-dimension force sensor has following three: 1) volume is larger, is unfavorable for saving on the device using and installing at space requirement, and the robot of dressing as this needs of exoskeleton robot, more should save installing space; 2) cost is very high, carries out processing and fabricating, and also needs Precision Machining for the can of this device, so cause the cost of this device very high because the elastic contact body in this device needs special material; 3) be measured as spot measurement, this device is merely able to measure the single-point position that exoskeleton robot contacts with wearer, can not reflect exactly the distribution of reciprocal force, plays the effect of assessment exoskeleton robot wearing comfortableness.
Summary of the invention
The object of the present invention is to provide a kind of distributed interactive force measuring device and measuring method thereof, solve at present the excessive inconvenience of technical equipment volume for measuring distributed interactive power for exoskeleton robot, equipment cost is too high, and measures not accurate incomplete problem.
For solving above-mentioned technical matters, the present invention is by the following technical solutions: a kind of distributed interactive force measuring device, comprise cantilever array, robot exoskeleton and bondage device, outer wall one side and the described robot exoskeleton of described bondage device are connected, described cantilever array is arranged on the inwall of bondage device, cantilever array is made up of magnification circuit plate and the semi-girder being connected on magnification circuit plate, described semi-girder is made up of Z-shaped of the teflon that is connected in the middle of two braces, on the interlude of Z-shaped of described teflon, be provided with foil gauge, described foil gauge and magnification circuit plate electrical connection, described magnification circuit plate is connected with data collection station.
Further technical scheme is, the cantilever array on described bondage device inwall has four, and in the time that bondage device is tied leg arm, cantilever array is distributed on leg arm surrounding.
Further technical scheme is, the magnification circuit plate of described cantilever array is long strip-board shape, is equipped with six semi-girders on magnification circuit plate, and in the time that bondage device is tied leg arm, six semi-girders vertically abut against on leg arm.
A method of measuring reciprocal force, comprises the following steps:
Step 1, is arranged on described bondage device on ectoskeletal two the huckle exoskeletons of described robot and two calf exoskeletons;
Step 2, ties bondage device in user's two huckles and two calf, fraps and makes cantilever array be distributed on the surrounding of shank, ensures that the semi-girder in cantilever array is all pressed on shank simultaneously;
Step 3, user is with mobile robot exoskeleton normally to walk, and there is resistance change along with the variation of extruding force in the foil gauge on semi-girder, and magnification circuit plate receives the resistance change of foil gauge and transfers to data collection station;
Step 4, data collection station receives the situation of change of all foil gauges that are arranged on two huckles and two calf simultaneously, draws the distributed situation of reciprocal force.
Compared with prior art, the invention has the beneficial effects as follows:
1) sensor array is distributed in to the tiing up on device of exoskeleton robot, with distributed mode sensor installation, has greatly saved installing space, more convenient wearer is dressed.
2) by adopting teflon as semi-girder material, and adopt foil gauge as deformation measuring device, due to the process that need to demarcate sensor, so also do not need Precision Machining in the physical construction processing of sensor, provide cost savings greatly.
3) by sensor array is carried out to distributed installation, reflect accurately the reciprocal force distribution situation between exoskeleton robot and wearer, can play the more assessment effect of directive significance, and can be optimized design to exoskeleton robot binding structure by it.
Brief description of the drawings
Fig. 1 is the deployed condition structural representation of a kind of distributed interactive force measuring device of the present invention.
Fig. 2 is the use status architecture schematic diagram of a kind of distributed interactive force measuring device of the present invention.
Fig. 3 is the cantilever array structural representation of a kind of distributed interactive force measuring device of the present invention.
Fig. 4 is the cantilever beam structure schematic diagram of a kind of distributed interactive force measuring device of the present invention.
Fig. 5 is the semi-girder Force principle figure of a kind of distributed interactive force measuring device of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1-Fig. 4 shows an embodiment of a kind of distributed interactive force measuring device of the present invention: a kind of distributed interactive force measuring device, comprise cantilever array 1, robot exoskeleton 2 and bondage device 3, outer wall one side and the described robot exoskeleton 2 of described bondage device 3 are connected, described cantilever array 1 is arranged on the inwall of bondage device 3, cantilever array 1 is made up of magnification circuit plate 4 and the semi-girder 5 being connected on magnification circuit plate 4, described semi-girder 5 is made up of Z-shaped 7 of the teflon that be connected in the middle of two braces 6, on the interlude of Z-shaped 7 of described teflon, be provided with foil gauge 8, described foil gauge 8 and magnification circuit plate 4 are electrically connected, described magnification circuit plate 4 is connected with data collection station.
Fig. 1 and Fig. 2 also show a preferred embodiment of a kind of distributed interactive force measuring device of the present invention, and the cantilever array 1 on described bondage device 3 inwalls has four, and in the time that bondage device 3 is tied leg arm, cantilever array 1 is distributed on leg arm surrounding.
Fig. 3 also shows a preferred embodiment of a kind of distributed interactive force measuring device of the present invention, the magnification circuit plate 4 of described cantilever array 1 is long strip-board shape, on magnification circuit plate 4, be equipped with six semi-girders 5, in the time that bondage device 3 is tied leg arm, six semi-girders 5 vertically abut against on leg arm.
A method of measuring reciprocal force, comprises the following steps:
Step 1, is arranged on described bondage device 3 on two huckle exoskeletons and two calf exoskeletons of described robot exoskeleton 2;
Step 2, ties bondage device 3 in user's two huckles and two calf, fraps and makes cantilever array 1 be distributed on the surrounding of shank, ensures that the semi-girder 5 in cantilever array 1 is all pressed on shank simultaneously;
Step 3, user is with mobile robot exoskeleton normally to walk, and there is resistance change along with the variation of extruding force in the foil gauge 8 on semi-girder 5, and magnification circuit plate 4 receives the resistance change of foil gauge 8 and transfers to data collection station;
Step 4, data collection station receives the situation of change of all foil gauges 8 that are arranged on two huckles and two calf simultaneously, draws the distributed situation of reciprocal force.
As shown in Figure 5, when semi-girder 5 is subject to ambient pressure F, can there is deformation and change himself resistance in foil gauge 8, the magnification circuit plate 4 being connected with foil gauge 8, by the change in resistance of foil gauge 8 is measured to output, from drawing the size of measuring the ambient pressure F that is subject to of semi-girder 5, statistics is got up for the result of distributed interactive power.Carry out label by the semi-girder 5 in each cantilever array 1, just can distribute and carry out measurement and positioning the reciprocal force between exoskeleton robot and wearer.
Although with reference to multiple explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiments, within these amendments and embodiment will drop on the disclosed principle scope and spirit of the application.More particularly, in the scope of, accompanying drawing open in the application and claim, can carry out multiple modification and improvement to the building block of subject combination layout and/or layout.Except distortion that building block and/or layout are carried out and improving, to those skilled in the art, other purposes will be also obvious.
Claims (4)
1. a distributed interactive force measuring device, it is characterized in that: comprise cantilever array (1), robot exoskeleton (2) and bondage device (3), outer wall one side and the described robot exoskeleton (2) of described bondage device (3) are connected, described cantilever array (1) is arranged on the inwall of bondage device (3), cantilever array (1) is by magnification circuit plate (4) and be connected in semi-girder (5) formation on magnification circuit plate (4), described semi-girder (5) is made up of the teflon Z-shaped (7) that is connected in the middle of two braces (6), on the interlude of described teflon Z-shaped (7), be provided with foil gauge (8), described foil gauge (8) and magnification circuit plate (4) electrical connection, described magnification circuit plate (4) is connected with data collection station.
2. a kind of distributed interactive force measuring device according to claim 1, it is characterized in that: the cantilever array (1) on described bondage device (3) inwall has four, in the time that bondage device (3) is tied leg arm, cantilever array (1) is distributed on leg arm surrounding.
3. a kind of distributed interactive force measuring device according to claim 1 and 2, it is characterized in that: the magnification circuit plate (4) of described cantilever array (1) is long strip-board shape, on magnification circuit plate (4), be equipped with six semi-girders (5), in the time that bondage device (3) is tied leg arm, six semi-girders (5) vertically abut against on leg arm.
4. an a kind of method of distributed interactive force measuring device measurement reciprocal force described in right to use requirement 1,2 or 3 any one, is characterized in that comprising the following steps:
Step 1, is arranged on described bondage device (3) on two huckle exoskeletons and two calf exoskeletons of described robot exoskeleton (2);
Step 2, ties bondage device (3) in user's two huckles and two calf, fraps and makes cantilever array (1) be distributed on the surrounding of shank, ensures that the semi-girder (5) in cantilever array (1) is all pressed on shank simultaneously;
Step 3, user is with mobile robot exoskeleton normally to walk, there is resistance change in the foil gauge (8) on semi-girder (5), magnification circuit plate (4) receives the resistance change of foil gauge (8) and transfers to data collection station along with the variation of extruding force;
Step 4, data collection station receives the situation of change of all foil gauges (8) that are arranged on two huckles and two calf simultaneously, draws the distributed situation of reciprocal force.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410416190.5A CN104180932B (en) | 2014-08-21 | 2014-08-21 | A kind of distributed interactive force measuring device and measuring method thereof |
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| CN201410416190.5A CN104180932B (en) | 2014-08-21 | 2014-08-21 | A kind of distributed interactive force measuring device and measuring method thereof |
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| CN104180932A true CN104180932A (en) | 2014-12-03 |
| CN104180932B CN104180932B (en) | 2016-06-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473743A (en) * | 2016-10-14 | 2017-03-08 | 哈尔滨工业大学 | Human body foot end in contact force measuring device |
| CN115716261A (en) * | 2022-11-15 | 2023-02-28 | 东北大学 | Displacement-force feedback lower limb active exoskeleton device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395332A (en) * | 1986-10-09 | 1988-04-26 | Yokohama Rubber Co Ltd:The | Distribution type tactile sensor |
| WO2001020284A2 (en) * | 1999-09-13 | 2001-03-22 | Encass S.R.L. | Miniaturised device for sensing the surface force distribution |
| CN101518472A (en) * | 2009-03-24 | 2009-09-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
-
2014
- 2014-08-21 CN CN201410416190.5A patent/CN104180932B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395332A (en) * | 1986-10-09 | 1988-04-26 | Yokohama Rubber Co Ltd:The | Distribution type tactile sensor |
| WO2001020284A2 (en) * | 1999-09-13 | 2001-03-22 | Encass S.R.L. | Miniaturised device for sensing the surface force distribution |
| CN101518472A (en) * | 2009-03-24 | 2009-09-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473743A (en) * | 2016-10-14 | 2017-03-08 | 哈尔滨工业大学 | Human body foot end in contact force measuring device |
| CN115716261A (en) * | 2022-11-15 | 2023-02-28 | 东北大学 | Displacement-force feedback lower limb active exoskeleton device |
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| Publication number | Publication date |
|---|---|
| CN104180932B (en) | 2016-06-08 |
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Effective date of registration: 20170918 Address after: 610213 No. 2039, south section of Tianfu Road, Chengdu hi tech Zone, Sichuan Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170918 Address after: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |
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