CN107496139B - 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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- CN107496139B CN107496139B CN201710861936.7A CN201710861936A CN107496139B CN 107496139 B CN107496139 B CN 107496139B CN 201710861936 A CN201710861936 A CN 201710861936A CN 107496139 B CN107496139 B CN 107496139B
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- wheel frame
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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
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 the problem of that existing manipulators in rehabilitation does not have perceptional function generally and there is the interactive forces size being unable to measure between finger-joint and ectoskeleton.Motor output end line wheel is mounted on the output shaft of driving motor, D profile shaft is installed in the line wheel of joint, the both ends of D profile shaft are mounted on line wheel frame by two bearings, joint angles sensor is packed on the upper surface of line wheel frame by screw, magnet steel is attached on the upper surface of D profile shaft and magnet steel and joint angles sensor face are arranged, socket joint end cap is fastened on the upper surface of line wheel frame, socket joint is packed on the side wall of line wheel frame, there are two penetration pipes arranged in parallel for the setting of line wheel frame, an elastic element is provided on 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 systems for wound finger gymnastic, belong to exoskeleton rehabilitation hand neck
Domain.
Background technique
Since eighties of last century, with flourishing for robot technology, many researchers both domestic and external are begun trying
Robot technology is combined with rehabilitation theory.Currently, robot assisted therapy has been proved to be able to be effectively improved hand
Motor function.Healing robot can provide suffering limb continuously movement and assist and can carry out accurate position control,
Therefore it realizes that the rehabilitation of hand movement function has huge meaning to the labor intensity for mitigating traditional remedies.
In order to realize the closed-loop control of robot motion, while in order to acquire the number of patient's training during the experiment
The processing and analysis in experiment later period are carried out accordingly, and sense measuring device has to be integrated into 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.
It is developed currently, having some manipulators in rehabilitation, and only few rehabilitation hand equipment has perceptional function,
These devices mostly use using the sensor based on piezoresistive effect the contact force for measuring ectoskeleton and finger.However, real
It tests and has been proven that such measurement method is inaccurate.It on the one hand is the characteristic due to this kind of sensor itself, another party
Face is all contact ranges that ectoskeleton and finger can not be covered due to sensor.Compared with the contact force of finger fingertip, we
It prefers to obtain the moment values in each joint of finger.
To sum up, existing manipulators in rehabilitation does not have perceptional function generally, and only a small number of finger gymnastics robot can examine
Survey the angle of movement of finger joint, the interactive forces size being unable to measure between finger-joint and ectoskeleton.
Summary of the invention
The present invention is to solve existing manipulators in rehabilitation not have perceptional function generally, exist be unable to measure finger-joint with
The problem of interactive forces size between ectoskeleton, and then a kind of joint moment measurement system for wound finger gymnastic is provided
System.
The technical solution adopted by the present invention to solve the above technical problem is:
Joint moment measuring system for wound finger gymnastic of the invention includes several joint moment measuring units,
Each joint moment measuring unit includes ectoskeleton joint unit 1, Bowden cable 2, motor output end line wheel 3 and two elasticity members
Part；Motor output end line wheel 3 is mounted on the output shaft of driving motor, and ectoskeleton joint unit 1 includes socket joint 14, joint line
Wheel 13,10, two bearings 12 of joint angles sensor, D profile shaft 8, line wheel frame 7, magnet steel 9 and socket joint end cap 11；D profile shaft 8 is worn
In joint line wheel 13, the both ends of D profile shaft 8 are mounted on line wheel frame 7 by two bearings 12, and joint angles sensor 10 is logical
It crosses screw to be packed on the upper surface of line wheel frame 7, magnet steel 9 is attached on the upper surface of D profile shaft 8 and magnet steel 9 and joint angles sense
The setting of 10 face of device, socket joint end cap 11 are 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, the setting of line wheel frame 7 is provided with an elastic element on each penetration pipe there are two penetration pipe arranged in parallel, described
Bowden cable 2 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, elastic element includes pressure spring 15 and casing 16, and one end of pressure spring 15 is solid with a corresponding penetration pipe
It connects, the other end and casing 16 of pressure spring 15 are affixed.
Further, Bowden cable 2, pressure spring 15, joint line wheel 13 and motor output end line wheel 3 constitute moment of elasticity sensing
Device.
Compared with the prior art, the invention has the following beneficial effects:
Joint moment measuring system for wound finger gymnastic of the invention is used based on the contactless of hall principle
Position sensor can be reliably mounted on the angular displacement size for measuring joint in ectoskeleton structure narrow space, have
Very high sensitivity and measurement accuracy；
The present invention, which devises a kind of moment of elasticity sensor based on Bowden cable and is transmitted to robot measuring Bowden cable, closes
The torque of section, since the deflection of elastic element is directly proportional with the size for the power that it is received, elastic element can be considered as one kind
Cheap force snesor, as long as the rigidity for measuring the deformation quantity of elastic element and known elasticity element is calculated
The pulling force of steel wire realizes accurate Torque Control to external skeletal joint；
The present invention has the function of that wound finger is assisted to carry out rehabilitation training, while having measurement wound swivel of hand movement 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, measuring device
It can obtain the motion range of finger-joint and torque size under patient current condition；When motor operation, wound can be assisted
Finger carries out rehabilitation training, can also monitor power/position information state of manipulator in real time while carrying out rehabilitation training, prevents
Only finger is further injured；Rehabilitation efficacy can also be assessed simultaneously.
Detailed description of the invention
Fig. 1 is the overall structure stereogram of the joint moment measuring system for wound finger gymnastic of the invention；
Fig. 2 is the structure chart of joint moment measurement of the present invention；
Fig. 3 is the exploded view of one China and foreign countries' skeletal joint unit 1 of the specific embodiment of the invention；
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 structure schematic diagram of the invention based on pressure spring；
Fig. 6 is the moment of elasticity sensor structure schematic diagram of the invention based on tension spring；
Fig. 7 is the moment of elasticity Fundamentals of Sensors figure of the invention based on pressure spring.
Specific embodiment
Specific embodiment 1: the joint moment for wound finger gymnastic of present embodiment is surveyed as shown in Fig. 1~7
Amount system includes several joint moment measuring units, and each joint moment measuring unit includes ectoskeleton joint unit 1, Bowden
Line 2, motor output end line wheel 3 and two elastic elements；Motor output end line wheel 3 is mounted on the output shaft of driving motor, outside
Skeletal 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 shaft 8 is installed in joint line wheel 13, and the both ends of D profile shaft 8 are pacified by two bearings 12
On line wheel frame 7, joint angles sensor 10 is packed on the upper surface of line wheel frame 7 by screw, and magnet steel 9 is attached to D profile shaft 8
Upper surface on and magnet steel 9 and 10 face of joint angles sensor be arranged, socket joint end cap 11 is fastened on the upper surface of line wheel frame 7
On, socket joint 14 is packed on the side wall of line wheel frame 7, and there are two penetration pipes arranged in parallel for the setting of line wheel frame 7, is each worn
An elastic element is provided on spool, the Bowden cable 2 is wrapped in extrinsic articulation unit line wheel 13 and motor output end line wheel 3
On.
Joint moment measuring system for wound finger gymnastic of the invention is mounted 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 adjustment mechanism 6, and hand healing robot is worn on manpower by velcro.
Bowden cable is made of steel wire and casing two parts, with the casing pressure spy equal with pulling force suffered by steel wire
Property.
Driving device of the present invention uses direct current generator as power source, passes through motor output end line wheel 3 using Bowden cable 2,
The torque that driving motor exports is transmitted 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
Elastic element is introduced between ectoskeleton joint unit 1, moment of elasticity sensor is constituted, when motor driven ectoskeleton joint unit
When 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 9 lower section of magnet steel being fixed in shaft, and magnet steel 9 is radial magnetizing, therefore
When D profile shaft 8 rotates, also and then rotated across the magnetic field of Hall chip.Two Halls according to Hall effect, in Hall chip
The induced electromotive force V that element can generatexAnd Vy, enable θ '=arctan (Vy/Vx), by judging VxAnd VyPositive and negative can be obtained by
The corner α of shaft.
The series elastic component in Bowden line transmission mechanism, the tension for steel wire in measurement Bowden cable provide solution system
System.When a machine is not running, patient can be worn by device and move, since motor output end line wheel 3 not can be rotated at this time,
Therefore the torque that finger-joint applies can make the pulling force of steel wire increase, so as to cause elastic element, deformation occurs；Work as motor operation
When, steel wire will drive the rotation of joint line wheel 13, and when the rotation of joint line wheel 13 is by resistance, the pulling force of steel wire can equally increase
Greatly, it also results in elastic element deformation occurs；The deformation quantity of elastic element is equal to steel wire in motor side line wheel and joint end line wheel
On the arc length passed by it is poor, pass through encoder respectively and measure the corner of motor side and the corner at joint angles sensor measurement joint end
The torque size that steel wire passes to ectoskeleton joint can be calculated.
The present invention provides the moment of elasticity sensor of two kinds of structure type, one kind being based on pressure spring, and another based on drawing
Spring.
The schematic diagram of moment of elasticity sensor based on pressure spring as shown in Figure 7, enables the equal stiffness of both sides pressure spring, then may be used
It is so that the torque size in ectoskeleton joint is calculated
τJ=(T1-T2)rJ=2k (Δ θMrM-ΔθJrJ)rJ (1)
As shown in fig. 7, two steel wires are each passed through pressure spring 1,2 and sheath 1,2, steel wire one end is fixed at the M point of motor side,
The steel wire other end is fixed at the J point at joint end.As shown in fig. 7, steel wire 1 above is then tightened up when motor rotates clockwise,
Pulling force suffered by it 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 pressure spring is l1, the length of steel wire is J1To M1Section path length
Degree, to obtain J before motor rotation1To M1The length L of this section of path steel wire 11:
--- the initial position of fixed point J of the steel wire on the end line wheel of joint；
--- the initial position of fixed point M of the steel wire in motor side line wheel；
M --- the steel wire length that pressure spring part is removed between AB is denoted as m；
rJ--- the radius of joint end line wheel；
rM--- the radius of motor side line wheel；
Since sheath is incompressible, no matter therefore sheath what kind of bending deformation, the length of the steel wire in sheath remain
Constant, i.e., m is fixed and invariable；
When motor turns overWhen, the length of 1 pressure spring of steel wire becomes l1', the length of steel wire is J2To M2Path length
Degree, to obtain J after motor rotation1To M1The length L of this section of path steel wire 22:
--- the position of fixed point J of the steel wire on the end line wheel of joint after motor rotation；
--- the initial position of fixed point M of the steel wire in motor side line wheel after motor rotation；
Due to ignoring the deformation quantity of steel wire, then L1=L2, it may be assumed that
Then it can be obtained:
Before motor rotation, the length of slack list pressure spring 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 pressure spring becomes 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, it may be assumed that
Then it can be obtained:
It is obtained again by Hooke's law:
K in formula1--- the rigidity for the pressure spring that steel wire 1 passes through；
k2--- the rigidity for the pressure spring that steel wire 2 passes through；
F0--- the initial pressure of 1,2 pairs of pressure springs of sheath；
F1--- pressure of the sheath 1 to pressure spring；
F2--- pressure of the sheath 2 to pressure spring；
From pressure spring characteristic:
We enable the equal stiffness of two pressure springs, it may be assumed that k1=k2=k, then available:
Therefore, the torque that steel wire passes to ectoskeleton joint can be calculated in we are as follows:
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 the above process, no longer repeats here.Due to
Pressure spring structure can reduce the length of spring in operation, can be to avoid the interference with other assemblies；Meanwhile pressure spring one end
It is fixed on the basis of ectoskeleton, will not move.Thus, the present invention subtracts using pressure spring structure, this structure
Demand of the ectoskeleton to space is lacked.
The hand healing robot control system is that instruction is provided by human-computer interaction device, and instruction passes through bluetooth again
Communication is sent to drive control device FPGA with driving motor；Drive control device receives the collected information of sensor, on the one hand
The closed-loop control for realizing motor, on the other hand will send information to human-computer interaction device by Bluetooth communication, is set by human-computer interaction
Note and the information for saving lower rehabilitation training.When detecting the diarthrodial torque of drive greater 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, it may be convenient to evaluate the effect of rehabilitation.
Specific embodiment 2: as shown in figure 3, present embodiment joint angles sensor 10 is based on the non-of hall principle
Contact position sensor.It is designed in this way, at measurement angle position, chip is located at 9 lower section of magnet steel being fixed in shaft, magnetic
Steel 9 is radial magnetizing, therefore when D profile shaft 8 rotates, and is also and then rotated across the magnetic field of Hall chip.Other compositions and connection
Relationship is same as the specific embodiment one.
Specific embodiment 3: 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 designed in this way, convenient disassembly.Other compositions and connection relationship are the same as one or two specific embodiments.
Specific embodiment 4: as shown in Figure 2 and Figure 4, present embodiment elastic element includes pressure spring 15 and casing 16, pressure
One end of spring 15 and a corresponding penetration pipe are affixed, and the other end and casing 16 of pressure spring 15 are affixed.It is designed in this way, due to elasticity
The deflection of element is directly proportional with the size for the power that it is received, and elastic element can be considered as a kind of cheap power sensing
Device.Other compositions and connection relationship are the same as the specific implementation mode 3.
Specific embodiment 5: as shown in Figures 2 and 3, present embodiment Bowden cable 2, pressure spring 15, joint line wheel 13 and electricity
Machine output end line wheel 3 constitutes moment of elasticity sensor.It is designed in this way, the series elastic component in Bowden line transmission mechanism, to survey
The tension of steel wire provides solution system in amount Bowden cable；When a machine is not running, patient can be worn by device and move,
Since the line wheel (3) of motor side at this time not can be rotated, therefore the torque that finger-joint applies can make the pulling force of steel wire increase, thus
Leading to elastic element, deformation occurs；When motor operation, steel wire will drive the rotation of joint line wheel 13, when the rotation of joint line wheel 13
When by resistance, the pulling force of steel wire equally be will increase, and also resulting in elastic element, deformation occurs.It is other composition and connection relationship with
Specific embodiment four is identical.
Claims (5)
1. a kind of joint moment measuring system for wound finger gymnastic, the joint moment measuring system include several passes
Torgue measurement unit is saved, each joint moment measuring unit includes ectoskeleton joint unit (1), Bowden cable (2), motor output end
Line wheel (3) and two elastic elements；It is characterized by: motor output end line wheel (3) is mounted on the output shaft of driving motor, outside
Skeletal joint unit (1) includes socket joint (14), joint line wheel (13), joint angles sensor (10), two bearings (12), D
Profile shaft (8), line wheel frame (7), magnet steel (9) and socket joint end cap (11)；D profile shaft (8) is installed on joint line wheel (13), D profile shaft
(8) both ends are mounted on line wheel frame (7) by two bearings (12), and joint angles sensor (10) is fixedly mounted with online by screw
On the upper surface of wheel carrier (7), magnet steel (9) is attached on the upper surface of D profile shaft (8) and magnet steel (9) and joint angles sensor (10)
Face setting, socket joint end cap (11) are fastened on the upper surface of line wheel frame (7), and socket joint (14) is packed in line wheel frame (7)
On side wall, line wheel frame (7) setting is provided with an elasticity member there are two penetration pipe arranged in parallel on each penetration pipe
Part, the Bowden cable (2) are 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
Spending sensor (10) is the non-contact position sensor based on hall principle.
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: elasticity member
Part includes pressure spring (15) and casing (16), and one end of pressure spring (15) and a corresponding penetration pipe are affixed, pressure spring (15) it is another
It holds affixed with casing (16).
5. the joint moment measuring system according to claim 4 for wound finger gymnastic, it is characterised in that: Bowden cable
(2), pressure spring (15), joint line wheel (13) and motor output end line wheel (3) constitute moment of elasticity sensor.
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| 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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| 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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| CN107496139B true CN107496139B (en) | 2019-07-16 |
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| CN108354784A (en) * | 2018-04-27 | 2018-08-03 | 深圳市迈步机器人科技有限公司 | A kind of electronic equipment and control method |
| EP3834797A4 (en) * | 2018-08-09 | 2022-06-01 | NEOFECT Co., Ltd. | Device for assisting body movement |
| CN109481226A (en) * | 2018-09-27 | 2019-03-19 | 南昌大学 | A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method |
| CN109907939B (en) * | 2019-03-26 | 2024-02-02 | 南京航空航天大学 | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control |
| CN110524577B (en) * | 2019-08-12 | 2021-03-02 | 珠海格力智能装备有限公司 | Method and device for measuring moment rigidity of robot joint |
| CN111938990B (en) * | 2020-07-20 | 2022-05-20 | 哈尔滨工程大学 | Muscle-imitating driving rope for lower limb rehabilitation training |
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