CN107496139A - A kind of joint moment measuring system for wound finger gymnastic - Google Patents
A kind of joint moment measuring system for wound finger gymnastic Download PDFInfo
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- CN107496139A CN107496139A CN201710861936.7A CN201710861936A CN107496139A CN 107496139 A CN107496139 A CN 107496139A CN 201710861936 A CN201710861936 A CN 201710861936A CN 107496139 A CN107496139 A CN 107496139A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 55
- 239000010959 steel Substances 0.000 claims abstract description 55
- 230000035515 penetration Effects 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 11
- 210000001145 finger joint Anatomy 0.000 abstract description 9
- 230000002452 interceptive effect Effects 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 21
- 208000027418 Wounds and injury Diseases 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 7
- 238000012549 training Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000035876 healing Effects 0.000 description 6
- 239000000203 mixture Substances 0.000 description 4
- 210000003813 thumb Anatomy 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
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- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Medical Informatics (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Physiology (AREA)
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Abstract
A kind of joint moment measuring system for wound finger gymnastic, it is related to a kind of joint moment measuring system.The present invention solves existing manipulators in rehabilitation and does not possess perceptional function typically, the problem of interactive forces size that can not be measured between finger-joint and ectoskeleton be present.Motor output end line wheel is arranged on the output shaft of motor, D profile shafts are installed in the line wheel of joint, the both ends of D profile shafts are arranged on line wheel frame by two bearings, joint angles sensor is packed in by screw on the upper surface of line wheel frame, magnet steel is attached on the upper surface of D profile shafts and magnet steel is set with joint angles sensor face, socket joint end cap is fastened on the upper surface of line wheel frame, socket joint is packed in the side wall of line wheel frame, line wheel sets up and is equipped with two penetration pipes arranged in parallel, a flexible member is provided with each penetration pipe, the Bowden cable is wrapped in extrinsic articulation unit line wheel and motor output end line wheel.The present invention is used for wound finger gymnastic.
Description
Technical field
The present invention relates to a kind of joint moment measuring system for wound finger gymnastic, belongs to exoskeleton rehabilitation hand neck
Domain.
Background technology
Since eighties of last century, with flourishing for robot technology, many researchers both domestic and external begin attempt to
Robot technology is combined with rehabilitation theory.At present, robot assisted therapy has been proved to be able to be effectively improved hand
Motor function.Healing robot can provide suffering limb continuously motion and aid in and can carry out accurate position control,
Therefore its labor intensity to mitigation traditional remedies, realizing the rehabilitation of hand movement function has huge meaning.
In order to realize the closed-loop control of robot motion, while in order to gather the number of patient's training in experimentation
Carry out testing the processing and analysis in later stage according to this, sense measuring device has to be incorporated among robot.For exoskeleton hand
Portion's healing robot, we are most concerned with the angle information in each joint of finger and the size of finger-joint torque, by dividing
The effect of rehabilitation can be evaluated by analysing the two indexs.
At present, some existing manipulators in rehabilitation are developed, and only few rehabilitation hand equipment has perceptional function,
These devices, which mostly employ, to be used based on the sensor of piezoresistive effect to measure the contact force of ectoskeleton and finger.It is however, real
Test and have been proven that such metering system is inaccurate.On the one hand it is due to the characteristic of this kind of sensor in itself, the opposing party
Face is due to all contact ranges that sensor can not cover ectoskeleton and finger.Compared with the contact force of finger fingertip, we
It is more desirable to obtain the moment values in each joint of finger.
To sum up, existing manipulators in rehabilitation does not possess perceptional function typically, and only a small number of finger gymnastic robots can examine
The angle of movement of finger joint is surveyed, the interactive forces size between finger-joint and ectoskeleton can not be measured.
The content of the invention
The present invention does not possess perceptional function typically to solve existing manipulators in rehabilitation, exist can not measure finger-joint with
The problem of interactive forces size between ectoskeleton, and then a kind of joint moment measurement for wound finger gymnastic is provided and is
System.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The joint moment measuring system for wound finger gymnastic of the present invention includes several joint moment measuring units,
Each joint moment measuring unit ectoskeleton joint unit 1, Bowden cable 2, motor output end line wheel 3 and two flexible members；Electricity
Machine output end line wheel 3 be arranged on motor output shaft on, ectoskeleton joint unit 1 include socket joint 14, joint line wheel 13,
10, two bearings 12 of joint angles sensor, D profile shafts 8, line wheel frame 7, magnet steel 9 and socket joint end cap 11；D profile shafts 8 are installed on pass
On nodel line wheel 13, the both ends of D profile shafts 8 are arranged on line wheel frame 7 by two bearings 12, and joint angles sensor 10 passes through screw
Be packed on the upper surface of line wheel frame 7, magnet steel 9 be attached on the upper surface of D profile shafts 8 and magnet steel 9 and joint angles sensor 10 just
To setting, socket joint end cap 11 is fastened on the upper surface of line wheel frame 7, and socket joint 14 is packed in the side wall of line wheel frame 7, line wheel
Frame 7 is provided with two penetration pipes arranged in parallel, and a flexible member, the Bowden cable 2 are provided with each penetration pipe
It is wrapped in extrinsic articulation unit line wheel 13 and motor output end line wheel 3.
Further, joint angles sensor 10 is the non-contact position sensor based on hall principle.
Further, socket joint end cap 11 is fixed on the upper surface of line wheel frame 7 by two screws.
Further, flexible member includes stage clip 15 and sleeve pipe 16, and one end of stage clip 15 is consolidated with a corresponding penetration pipe
Connect, the other end and sleeve pipe 16 of stage clip 15 are affixed.
Further, Bowden cable 2, stage clip 15, joint line wheel 13 and motor output end line wheel 3 form moment of elasticity sensing
Device.
The present invention has the advantages that compared with prior art：
The joint moment measuring system for wound finger gymnastic of the present invention is used based on the contactless of hall principle
Position sensor, the angular displacement size in measurement joint among ectoskeleton structure narrow space can be reliably mounted on, is had
Very high sensitivity and measurement accuracy；
The present invention devises a kind of moment of elasticity sensor based on Bowden cable and is delivered to robot pass to measure Bowden cable
The torque of section, the size for the power received due to deflection and its of flexible member is directly proportional, and flexible member can is considered as one kind
Cheap force snesor, as long as the rigidity can for measuring the deformation quantity of flexible member and known elasticity element is calculated
The pulling force of steel wire realizes accurate Torque Control so as to external skeletal joint；
There is the present invention auxiliary wound finger to carry out the function of rehabilitation training, while have measurement wound swivel of hand motion model
Enclose the function with joint moment size；When a machine is not running, patient can be worn by device and carry out proper motion, measurement apparatus
The range of movement of finger-joint and torque size under patient current condition can be obtained；When motor operation, wound can be aided in
Finger carries out rehabilitation training, can also monitor power/position information state of manipulator in real time while rehabilitation training is carried out, and prevents
Only finger is further injured；Rehabilitation efficacy can also be assessed simultaneously.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the joint moment measuring system for wound finger gymnastic of the present invention；
Fig. 2 is the structure chart of joint moment measurement of the present invention；
Fig. 3 is the exploded view of the China and foreign countries' skeletal joint unit 1 of the specific embodiment of the invention one；
Fig. 4 is the exploded view of elastic torque sensor in the specific embodiment of the invention five；
Fig. 5 is the moment of elasticity sensor construction sketch based on stage clip of the present invention；
Fig. 6 is the moment of elasticity sensor construction sketch based on extension spring of the present invention；
Fig. 7 is the moment of elasticity Fundamentals of Sensors figure based on stage clip of the present invention.
Embodiment
Embodiment one：As shown in Fig. 1~7, the joint moment for wound finger gymnastic of present embodiment is surveyed
Amount system includes several joint moment measuring units, each joint moment measuring unit ectoskeleton joint unit 1, Bowden cable 2,
Motor output end line wheel 3 and two flexible members；Motor output end line wheel 3 is arranged on the output shaft of motor, ectoskeleton
Joint unit 1 include socket joint 14, joint line wheel 13,10, two bearings 12 of joint angles sensor, D profile shafts 8, line wheel frame 7,
Magnet steel 9 and socket joint end cap 11；D profile shafts 8 are installed in joint line wheel 13, and the both ends of D profile shafts 8 are arranged on by two bearings 12
On line wheel frame 7, joint angles sensor 10 is packed in by screw on the upper surface of line wheel frame 7, and magnet steel 9 is attached to the upper of D profile shafts 8
On end face and magnet steel 9 is set with the face of joint angles sensor 10, and socket joint end cap 11 is fastened on the upper surface of line wheel frame 7,
Socket joint 14 is packed in the side wall of line wheel frame 7, and line wheel frame 7 is provided with two penetration pipes arranged in parallel, each threading
A flexible member is provided with pipe, the Bowden cable 2 is wrapped in extrinsic articulation unit line wheel 13 and motor output end line wheel 3.
The joint moment measuring system for wound finger gymnastic of the present invention is arranged on hand healing robot, hand
Healing robot includes thumb ectoskeleton module 4, thumb in fingers out bone module 5, thumb ectoskeleton module 4 and thumb in fingers out bone module
5 are each attached on palm back of the body adjustment mechanism 6, and hand healing robot is worn on human hand by VELCRO.
Bowden cable is made up of steel wire and sleeve pipe two parts, has the sleeve pipe pressure spy equal with pulling force suffered by steel wire
Property.
Drive device of the present invention uses direct current generator as power source, using Bowden cable 2 by motor output end line wheel 3,
The torque that motor exports is delivered to each driving joint of ectoskeleton to drive finger to do rehabilitation training campaign；Dermoskeleton
Each driving joint of bone rehabilitation hand is fitted with joint angles sensor 10 to measure the angular displacement in joint；In Bowden cable 2
Flexible member is introduced between ectoskeleton joint unit 1, forms moment of elasticity sensor, when motor drives ectoskeleton joint unit
During 1 rotation, the torque of ectoskeleton joint unit 1 can be calculated by moment of elasticity sensor.
At measurement angle position, chip is located at the lower section of magnet steel 9 being fixed in rotating shaft, and magnet steel 9 is radial magnetizing, therefore
When D profile shafts 8 rotate, also and then rotated through the magnetic field of Hall chip.According to Hall effect, two Halls in Hall chip
Induced electromotive force V caused by element meetingxAnd Vy, make θ '=arctan (Vy/Vx), by judging VxAnd VyPositive and negative can be obtained by
The corner α of rotating shaft.
The series elastic component in Bowden line transmission mechanism, the tension force for steel wire in measurement Bowden cable provide solution system
System.When a machine is not running, patient can be worn by device and be moved, because now motor output end line wheel 3 is not rotatable,
Therefore the torque that finger-joint applies can cause the pulling force of steel wire to increase, so as to cause flexible member to deform upon；Work as motor operation
When, steel wire can drive joint line wheel 13 to rotate, and when the rotation of joint line wheel 13 is by resistance, the pulling force of steel wire can equally increase
Greatly, flexible member is again resulted in deform upon；The deformation quantity of flexible member is equal to steel wire in motor side line wheel and joint end line wheel
On the arc length passed by it is poor, the corner at joint end is measured by the corner and joint angles sensor at encoder measurement motor end respectively
The torque size that steel wire passes to ectoskeleton joint can be calculated.
The invention provides the moment of elasticity sensor of two kinds of structure type, one kind is based on stage clip, and another based on drawing
Spring.
The schematic diagram of moment of elasticity sensor based on stage clip as shown in Figure 7, makes the equal stiffness of both sides stage clip, then may be used
With
The torque size that ectoskeleton joint is calculated is
τJ=(T1-T2)rJ=2k (Δ θMrM-ΔθJrJ)rJ (1)
As shown in fig. 7, two steel wires are each passed through stage clip 1,2 and sheath 1,2, steel wire one end is fixed at the M points of motor side,
The steel wire other end is fixed at the J points at joint end.As shown in fig. 7, when motor rotates clockwise, steel wire 1 above is then tightened up,
Its suffered pulling force is by pretightning force T at the end of joint0T is increased to1；Following steel wire 2 is then relaxed, at the end of joint suffered by it
Pulling force is by pretightning force T0It has been reduced to T2.One end of two steel wires is by M1M is moved to2, other end is by J1J is moved to2。
For steel wire 1 above before motor rotation, the length of stage clip is l1, the length of steel wire is J1To M1Section path length
Degree, so as to draw J before motor rotation1To M1The length L of this section of path steel wire 11：
--- fixing point J of the steel wire on the end line wheel of joint initial position；
--- fixing point M of the steel wire in motor side line wheel initial position；
M --- the steel wire length that stage clip part is removed between AB is designated as m；
rJ--- the radius of joint end line wheel；
rM--- the radius of motor side line wheel；
Because sheath is incompressible, no matter therefore sheath what kind of flexural deformation, the length of the steel wire in sheath remain
Constant, i.e. m is changeless；
When motor turns overWhen, the length of the stage clip of steel wire 1 is changed into l1', the length of steel wire is J2To M2Path length
Degree, so as to draw J after motor rotation1To M1The length L of this section of path steel wire 22：
--- fixing point J of the steel wire on the end line wheel of joint position after motor rotates；
--- fixing point M of the steel wire in motor side line wheel initial position after motor rotates；
Due to ignoring the deformation quantity of steel wire, then L1=L2, i.e.,：
Then it can obtain：
Before motor rotation, the length of slack list stage clip is l for slack list2, the length of steel wire is J1To M1This section of path steel wire
Length：
When motor turns overWhen, the length of slack list stage clip is changed into l2', the length of steel wire is J2To M2This section of path steel
The length of silk：
Equally, we ignore the deformation quantity of steel wire, L1=L2, i.e.,：
Then it can obtain：
Obtained again by Hooke's law：
K in formula1--- the rigidity for the stage clip that steel wire 1 passes through；
k2--- the rigidity for the stage clip that steel wire 2 passes through；
F0--- the initial pressure of 1,2 pairs of stage clips of sheath；
F1--- pressure of the sheath 1 to stage clip；
F2--- pressure of the sheath 2 to stage clip；
From stage clip characteristic：
We make the equal stiffness of two stage clips, i.e.,：k1=k2=k, then it can obtain：
Therefore, we, which can be calculated steel wire and pass to the torque of ectoskeleton joint, is：
Δ θ in formulaJ--- the angle that joint end line wheel turns over；
ΔθM--- the angle that motor side line wheel turns over.
The detailed process that extension spring structure calculates ectoskeleton joint torque is similar with said process, no longer repeats here.Due to
Stage clip structure can reduce the length of spring in operation, can avoid the interference with other assemblies；Meanwhile stage clip one end
It is integrally fixed on the basis of ectoskeleton, will not be moved.Thus, the present invention subtracts using stage clip structure, this structure
Demand of the ectoskeleton to space is lacked.
Described hand healing robot control system is to provide instruction by human-computer interaction device, and instruction passes through bluetooth again
Communication is sent to drive control device FPGA with motor；Drive control device receives the information that sensor collects, on the one hand
The closed-loop control of motor is realized, human-computer interaction device on the other hand will send information to by Bluetooth communication, is set by man-machine interaction
Note and the information for preserving lower rehabilitation training.When detecting the diarthrodial torque of drive more than being worth as defined in doctor, motor is anti-
Direction rotates, and prevents from causing secondary injury to joint.After rehabilitation training is completed, motor can be allowed to stall, patient oneself
Movable finger is to detect the active torque sizes values of finger-joint, in that context it may be convenient to evaluates the effect of rehabilitation.
Embodiment two：As shown in figure 3, present embodiment joint angles sensor 10 is based on the non-of hall principle
Contact position sensor.It is so designed that, at measurement angle position, chip is located at the lower section of magnet steel 9 being fixed in rotating shaft, magnetic
Steel 9 is radial magnetizing, therefore when D profile shafts 8 rotate, is also and then rotated through the magnetic field of Hall chip.Other compositions and connection
Relation is identical with embodiment one.
Embodiment three：As shown in figure 3, present embodiment socket joint end cap 11 is fixed on line wheel by two screws
On the upper surface of frame 7.It is so designed that, convenient disassembly.Other compositions and annexation are identical with embodiment one or two.
Embodiment four：As shown in Figure 2 and Figure 4, present embodiment flexible member includes stage clip 15 and sleeve pipe 16, pressure
One end of spring 15 and a corresponding penetration pipe are affixed, and the other end and sleeve pipe 16 of stage clip 15 are affixed.It is so designed that, due to elasticity
The deflection of element is directly proportional with the size for the power that it is received, and flexible member can is considered as a kind of cheap power sensing
Device.Other compositions and annexation are identical with embodiment three.
Embodiment five：As shown in Figures 2 and 3, present embodiment Bowden cable 2, stage clip 15, joint line wheel 13 and electricity
Machine output end line wheel 3 forms moment of elasticity sensor.It is so designed that, the series elastic component in Bowden line transmission mechanism, to survey
The tension force of steel wire provides solution system in amount Bowden cable；When a machine is not running, patient can be worn by device and be moved,
Because the line wheel (3) of now motor side is not rotatable, therefore the torque that finger-joint applies can cause the pulling force of steel wire increase, so that
Flexible member is caused to deform upon；When motor operation, steel wire can drive joint line wheel 13 to rotate, when the rotation of joint line wheel 13
During by resistance, the pulling force of steel wire can equally increase, and again result in flexible member and deform upon.It is other composition and annexation with
Embodiment four is identical.
Claims (5)
1. a kind of joint moment measuring system for wound finger gymnastic, the joint moment measuring system is closed including several
Save torgue measurement unit, each joint moment measuring unit ectoskeleton joint unit (1), Bowden cable (2), motor output end line wheel
And two flexible members (3)；It is characterized in that：Motor output end line wheel (3) is arranged on the output shaft of motor, ectoskeleton
Joint unit (1) includes socket joint (14), joint line wheel (13), joint angles sensor (10), two bearings (12), D profile shafts
(8), line wheel frame (7), magnet steel (9) and socket joint end cap (11)；D profile shafts (8) are installed in joint line wheel (13), D profile shafts (8)
Both ends are arranged on line wheel frame (7) by two bearings (12), and joint angles sensor (10) is packed in line wheel frame by screw
(7) on upper surface, magnet steel (9) is attached on the upper surface of D profile shafts (8) and magnet steel (9) and joint angles sensor (10) face
Set, socket joint end cap (11) is fastened on the upper surface of line wheel frame (7), and socket joint (14) is packed in the side wall of line wheel frame (7)
On, line wheel frame (7) is provided with two penetration pipes arranged in parallel, and a flexible member, institute are provided with each penetration pipe
Bowden cable (2) is stated to be wrapped in extrinsic articulation unit line wheel (13) and motor output end line wheel (3).
2. the joint moment measuring system according to claim 1 for wound finger gymnastic, it is characterised in that：Joint angle
It is the non-contact position sensor based on hall principle to spend sensor (10).
3. the joint moment measuring system according to claim 1 or 2 for wound finger gymnastic, it is characterised in that：Close
Section seat end cap (11) is fixed on the upper surface of line wheel frame (7) by two screws.
4. the joint moment measuring system according to claim 3 for wound finger gymnastic, it is characterised in that：Elastic member
Part includes stage clip (15) and sleeve pipe (16), and one end of stage clip (15) and a corresponding penetration pipe are affixed, stage clip (15) it is another
End is affixed with sleeve pipe (16).
5. the joint moment measuring system according to claim 4 for wound finger gymnastic, it is characterised in that：Bowden cable
(2), stage clip (15), joint line wheel (13) and motor output end line wheel (3) form moment of elasticity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861936.7A CN107496139B (en) | 2017-09-21 | 2017-09-21 | A kind of joint moment measuring system for wound finger gymnastic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710861936.7A CN107496139B (en) | 2017-09-21 | 2017-09-21 | A kind of joint moment measuring system for wound finger gymnastic |
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| CN111938990A (en) * | 2020-07-20 | 2020-11-17 | 哈尔滨工程大学 | Muscle-imitating driving rope for lower limb rehabilitation training |
| US20210154082A1 (en) * | 2018-08-09 | 2021-05-27 | Neofect Co., Ltd. | Device for assisting body movement |
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