CN107702978A - A kind of external bionical power of shoulder joint loads and its Function detection experiment porch - Google Patents
A kind of external bionical power of shoulder joint loads and its Function detection experiment porch Download PDFInfo
- Publication number
- CN107702978A CN107702978A CN201710867402.5A CN201710867402A CN107702978A CN 107702978 A CN107702978 A CN 107702978A CN 201710867402 A CN201710867402 A CN 201710867402A CN 107702978 A CN107702978 A CN 107702978A
- Authority
- CN
- China
- Prior art keywords
- humerus
- shoulder joint
- muscle
- unit
- arc frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 64
- 238000002474 experimental method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 210000002758 humerus Anatomy 0.000 claims abstract description 91
- 210000003205 muscle Anatomy 0.000 claims abstract description 59
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 210000003109 clavicle Anatomy 0.000 claims description 25
- 238000005096 rolling process Methods 0.000 claims description 20
- 230000007704 transition Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 6
- 101000803709 Homo sapiens Vitronectin Proteins 0.000 claims description 5
- 239000004576 sand Substances 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 18
- 230000003387 muscular Effects 0.000 abstract description 6
- 238000000338 in vitro Methods 0.000 abstract description 4
- 230000008407 joint function Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 210000000852 deltoid muscle Anatomy 0.000 description 11
- 238000005259 measurement Methods 0.000 description 8
- 229910052782 aluminium Inorganic materials 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 5
- 210000002659 acromion Anatomy 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 241001653121 Glenoides Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 206010053682 Brachycephaly Diseases 0.000 description 2
- 208000009283 Craniosynostoses Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000003041 ligament Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 208000024288 Rotator Cuff injury Diseases 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 210000000784 arm bone Anatomy 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 238000011158 quantitative evaluation Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a kind of bionical power loading of shoulder joint in vitro and its Function detection experiment porch, including carrier unit, base unit, omoplate bone fixation and muscle loading unit, humerus clamping and rotation-measuring unit, humerus motion guiding arc frame and head of humerus displacement detecting unit.This experiment porch can provide different shoulder joint sample Static-state Space postures according to requirement of experiment and fix, and coordinate with fixture, can carry out the static phase adjustment of Glenohumeral joint Three Degree Of Freedom and shoulder blade one degree of freedom.Muscle loading unit is made up of more power transmission ropes and corresponding pneumatic servo system, there is provided the bionical muscular strength of each muscle group of external shoulder joint.Bionical muscular strength is applied to shoulder joint sample under microcomputer control, the multivariant motion of shoulder joint can be achieved, while the functional parameter of shoulder joint is detected.The important indicator that biomechanical data measured by this experiment porch can be evaluated as shoulder joint function.
Description
Technical field
The invention belongs to external joint biomechanics experiment field, is loaded more particularly to a kind of external bionical power of shoulder joint
And its Function detection experiment porch.
Background technology
Shoulder joint is the joint that human body is most flexible, kinematics is the most complicated, can bend, stretch, be abduction, interior receipts, outward turning, interior
Rotation and ring turn multiaxis motion.Research shows, compares with lower limb hip joint, and the motion amplitude of shoulder joint is larger, but stability is poor.
Shoulder joint is enclosed with a large amount of muscle, and these muscle are significant to the stability for safeguarding shoulder joint.Rotator cuff tear is shoulder joint
A kind of more serious damage, unstability of the capsular ligament in fore-and-aft direction will be caused.Shoulder sleeve prosthesis, which helps to improve, to be damaged
The function of shoulder joint.Influence difference of the different reparation means to surgical effect can be entered by the Function detection of external shoulder joint
Row quantitative evaluation.Functional parameter variable includes Glenohumeral joint surface pressure, acromion contact, the intracapsular displacement of the head of humerus, joint fortune
Dynamic scope etc..External shoulder joint is assembled under conditions of physiological status is met on analog detection platform, and is applied imitative
Raw muscular force traction humerus motion, at the same time, capsular ligament functional evaluation parameter is measured by corresponding sensor.
Chinese invention patent publication number：CN205262846U, title：A kind of parallel connected bionic shoulder joint mechanical test experiment is flat
Platform, mainly by moving platform, fixed platform, three power sensing collateral branch chains, a power sensing middle pole and one it is portable it is super should
Become instrument composition.The invention is the bionical shoulder joint mechanism based on parallel institution, although it can complete the quiet of bionical shoulder joint mechanism
Mechanics and dynamics simulation, but the bionical shoulder joint due to mechanical structure differs huge with the shoulder joint structure of actual human body, is
The shoulder joint greatly simplified, the experiment of biomethanics can not be carried out.And the experiment porch work done can be simulated and can only answered
The measurement of stress-strain, detection function are single.In fact, up to the present, the country is also no being capable of multi-parameter detection human body specimen
The experiment porch of external shoulder joint function.
The application of external shoulder joint kinesitherapy simulator can further improve understanding of the people to shoulder joint biomethanics.Shoulder
Joint biomechanical knowledge is necessary for the pathology for understanding shoulder joint, and this is also beneficial to exploitation operation correcting strategy.
The content of the invention
It is an object of the invention to meet the needs of domestic human vitronectin shoulder joint biomechanics Research, overcome above-mentioned existing
The deficiency of technology, design provide a kind of bionical, measuring multiple parameters biomethanics synthesis experiment platform.
To achieve the above object, the present invention uses following technical scheme：A kind of external bionical power of shoulder joint loads and its work(
Energy test experience platform, mainly clamped and revolved by carrier unit, base unit, omoplate bone fixation and muscle loading unit, humerus
Turn measuring unit, six parts of humerus motion guiding arc frame and head of humerus displacement detecting unit form.Wherein, carrier unit is used for
Support whole experiment porch, base unit and humerus motion guiding arc frame directly with carrier unit assembly connection；Base unit with
Omoplate bone fixation and muscle loading unit are connected with hinging manner, for adjusting the phase of omoplate bone fixation and muscle loading unit
Posture；Omoplate bone fixation and muscle loading unit have the function of the outer shoulder blade of fixed body and arrangement Bionic muscle Force system concurrently；Humerus
Clamping and rotation-measuring unit impose the limit that certain moment of torsion can reach for detecting humerus under bionical muscular strength loading environment
Position；The sliding block of the chute and humerus clamp end of humerus motion guiding arc frame coordinates, for guiding the motion of humerus end；The upper arm
Bone displacement detecting unit is used to detect motion track of the head of humerus after lifting force is loaded in glenoid cavity.
Preferably, the carrier unit mainly by framework, vertical support member, upper slide rail installing plate, stage+module plate and under
Slide rail installing plate forms.Framework is divided into front and rear two layers, and vertical support member is symmetrically bolted on the crossbeam at the disconnected place of framework sand ground.
Sheaf space is big before framework, facilitates experimenter to operate wherein；Layer is used to place drive system after framework.Upper slide rail installing plate,
Stage+module plate and glidepath installing plate bolt on vertical support member successively from top to bottom.
Preferably, the base unit is mainly by platform, square column, quiet T-shaped seat, rolling bearing units, Building T rotating shaft and dynamic T
Type seat forms.Platform is bolted on the stage+module angle bar of support, and square column is to be threadedly connected to platform, quiet T
Type seat is threadingly attached to square column, and rolling bearing units are arranged on quiet T-shaped seat, and Building T rotating shaft is through rolling bearing units and by band
The lock-screw locking of seat bearing, moves T-shaped seat and is connected by flat key with Building T rotating shaft.The phase of shoulder blade is turned by quiet T-shaped seat, Building T
Revolute pair that axle and dynamic T-shaped seat are formed is adjusted.In addition, move T-shaped seat on be machined with several be used for position through hole, it is quiet T-shaped
One is machined with seat can through hole corresponding with dynamic T-shaped seat upper Positioning holes, you can with a bearing pin also cross being located at quiet T respectively
Type seat and the hole for moving T-shaped seat, for the fixed phase for moving T-shaped seat.
Preferably, the omoplate bone fixation and muscle loading unit are mainly by transition disk, slotted disk, push rod rod end bearing
Carry bar, push rod rod end loading plate, muscle carrier bar, muscle guide rod, cross holder, human vitronectin shoulder joint sample (including omoplate
Bone, clavicle and the therefrom crosscutting humerus blocked in bottom), rope, omoplate bone clamping plate, pulling force sensor, threaded connecting sleeve, straight line push away
Bar, clavicle fixture, clavicle fix carrier bar, multi-dimension force sensor composition.Transition disk with move T-shaped seat be connected, slotted disk with
Transition disk is connected, and multi-dimension force sensor is arranged on slotted disk.Omoplate bone clamping plate mode connects for screw is in multi-dimension force sensor
Installation panel on, shoulder blade coordinates extra large size pads to be fixed in omoplate bone clamping plate by three bolts.Clavicle is inserted into clavicle
Fixture, and screw on screw in fixture outer ring and lock clavicle.One end that clavicle fixes carrier bar is connected with clavicle fixture, the other end
It is connected with slotted disk.Linear push rod is installed on slotted disk, and pulling force sensor is connected through a screw thread set and linear push rod
Rod end is connected.Push rod rod end carrier bar one end is fixed on slotted disk, and the other end is equipped with push rod rod end loading plate, is processed on plate
There are some pilot holes, pilot hole corresponds with linear push rod.One end of each muscle carrier bar is connected on slotted disk, can
Change rigging position in the ring shaped slot of slotted disk, the other end of carrier bar passes through cross holder and muscle guide rod orthorhombic phase
Even.Therefore, guide rod can make the position adjustments of four-degree-of-freedom relative to carrier bar, meanwhile, carrier bar can be in the ring-like of slotted disk
Moved in groove, therefore guide rod shares the position adjustments of five frees degree (three prismatic pairs, two revolute pairs).Muscle loading plate is distinguished
It is connected with muscle guide rod, therefore loading plate is consistent with the adjustable free degree of guide rod.Rope one end and the pulling force of linear push rod rod end
Sensor is connected, through the loading plate of push rod rod end loading plate and each muscle group on pilot hole, it is each on the other end and humerus
Physiological location corresponding to individual muscle group or tendon is connected.Linear push rod provides bionic muscle pulling force, and pulling force sensor feedback is actual
Pulling force, power closed loop is formed, accurately realizes bionical power loading procedure.After power loading, Glenohumeral joint is measured by multi-dimension force sensor
Surface pressure, while utilize the diaphragm pressure sensing piece measurement compression area and maximum pressure for being placed on acromion hypozygal gap.
Preferably, the humerus clamping and rotation-measuring unit are mainly by bicipital muscle of arm loading plate, humerus fixture, linear push
Bar mounting ring, screw rod, lengthen nut, bearing inner sleeve, bearing (ball) cover, bearing, bearing outside, shaft coupling, encoder mounting rack, angle
Spend encoder, arc top shoe (including sliding block roller, sliding block composing plate, sliding block blocking), adjusting sleeve, mini linear push rod, fan
You form threaded connecting sleeve, rope and pulling force sensor.Sliding block roller is connected by screw on sliding block composing plate, sliding block roller
There is pad to separate between sliding block composing plate, two panels sliding block composing plate is connected to the both sides of sliding block blocking by screw.
Humerus fixture is connected by lock-screw with humerus and both axis are approximate overlaps.Bicipital muscle of arm loading plate is big mounted in humerus fixture
Hold on end face.Pulling force sensor is connected by mini threaded connecting sleeve with mini linear push rod.Mini linear push rod is mounted in linear
In push rod mounting ring, linear push rod mounting ring and the circumferentia of humerus fixture are connected by screw.Two mini linear push rod is matched somebody with somebody
Long head and brachycephaly that rope simulates the bicipital muscle of arm respectively are closed, its actual pulling force feeds back to computer by pulling force sensor, forms power
The loading system of closed loop.Screw rod is screwed into from the small end screwed hole of humerus fixture, and is inserted on the inside of humerus, is strengthened humerus and is pressed from both sides with humerus
The connection of tool.Meanwhile humerus fixture small end is screwed with lock-screw and prevents that the rotation relative to humerus fixture occurs when screw rod from working.
Lengthen nut to be screwed on screw rod, and with screw lock, avoid lengthening nut from being relatively rotated with screw rod.Bearing inner sleeve passes through lock
Tight screw is fixed on screw rod, and bearing inner race interference fit ground is arranged on bearing inner sleeve cylinder, bearing outer ring and bearing outside
Interference fit installation, end cap push down bearing outer ring and prevent its axial float on the bearing outside end face.Bearing outside is simultaneously
It is connected by bolt with arc top shoe, causes bearing outside to keep certain spacing with sliding block equipped with adjusting sleeve on bolt, with suitable
Answer the rigging position relation of angular encoder and arc top shoe.Encoder mounting rack is bolted to arc top shoe, angle
Encoder is arranged on encoder mounting rack.The shaft end of angular encoder is connected by shaft coupling with screw rod tail end.Measure humerus
When inside and outside swing angle is spent, apply a certain size moment of torsion so that humerus is rotated to extreme position at nut lengthening, meanwhile, angle
Encoder measures the inside and outside swing angle degree of humerus.
Preferably, humerus motion guiding arc frame mainly by line slide rail, linear slider, sliding block installing plate, limited block,
Arc frame mounting bar, arc frame rotating shaft, arc frame rolling bearing units, holder and semicircle slide rail composition.Wherein, semicircle slide rail both sides are machined with ring
Shape chute.Arc top shoe is assemblied on semicircle slide rail, and sliding block roller moves in the annular groove of semicircle slide rail, guides humerus
Abduction, interior receipts.The both ends of semicircle slide rail are attached separately to up and down on two holders.Holder is mounted in the one of arc frame rotating shaft by key connection
End, the other end of arc frame rotating shaft are fixed through arc frame rolling bearing units inner ring and by its lock-screw.Arc frame rolling bearing units are mounted in arc
Frame mounting bar one end, limited block is housed on the other end end face of arc frame mounting bar, prevents line slide rail from derailing.Semicircle slide rail both ends
Arc frame mounting bar be attached separately on the straight line slide unit of upper and lower two groups of two degrees of freedom.Straight line slide unit have up and down two layers of slideway, first
Layer slideway has two line slide rails, and two sliding blocks are respectively provided with every one slide rail.Four sliding blocks of first layer slideway are attached separately to
The one side of sliding block installing plate, another side are equipped with two sliding blocks of the second layer, and a line slide rail passes through the guide hole of this two sliding blocks,
And it is assemblied on arc frame mounting bar.It follows that humerus motion guiding arc frame altogether have three degree of freedom (two prismatic pairs, one
Individual revolute pair), guide the adjustment of humerus pose.
Preferably, the head of humerus displacement detecting unit is mainly pressed from both sides by three-dimensional coordinate measuring instrument, measuring instrument mounting seat and G words
Composition.The base of 3D digitizer is connected with digitizer mounting seat, and digitizer mounting seat is clamped to flat by G words folder
On platform.Three-dimensional coordinate measuring instrument has the measurement capability of six-degree of freedom displacement, and a high-precision sky is sensed here with its end
Between the position perception measurement head of humerus load move when change in location in glenoid cavity.
Compared with prior art, the present invention has following beneficial effect：
1st, a kind of external bionical power of shoulder joint provided by the invention loads and its Function detection experiment porch can be according to experiment
Fixed it is required that providing different shoulder joint sample Static-state Space postures, coordinate with fixture, Glenohumeral joint Three Degree Of Freedom can be carried out
Adjusted with the static phase of shoulder blade one degree of freedom.
2nd, a kind of external bionical power of shoulder joint provided by the invention loads and its Function detection experiment porch has Bionic muscle
Power auto-loading system, the system is by SERVO CONTROL hardware and facilitates the software of man-machine interaction to form, there is provided each flesh of shoulder joint
The bionical muscular strength of meat group.Bionical muscular strength is applied to shoulder joint sample under microcomputer control, it is multivariant imitative that shoulder joint can be achieved
Raw active movement, rather than passively acted under the auxiliary of external mechanism.
3rd, a kind of external bionical power of shoulder joint provided by the invention loads and its Function detection experiment porch provides more ginsengs
The data collecting system of number measurement, the system is by data acquisition hardware and facilitates the software of man-machine interaction to form.Wherein, reagency
Sense device (multi-dimension force sensor, diaphragm pressure sensing piece) can detect Glenohumeral joint face and acromion hypozygal gap and be held
The pressure or pressure received；Displacement detector (three-dimensional coordinate measuring instrument, angular encoder) can measure humerus six degree of freedom
Displacement.These biomechanical datas measured by the experiment porch can be as the evaluation index of shoulder joint function.
Brief description of the drawings
Fig. 1 is a kind of bionical power loading of shoulder joint in vitro of the present invention and its Function detection experiment porch overall schematic.
Fig. 2 is that a kind of external bionical power of shoulder joint of the present invention loads and its Function detection experiment porch carrier unit is illustrated
Figure.
Fig. 3 is that a kind of external bionical power of shoulder joint of the present invention loads and its Function detection experiment porch base unit is illustrated
Figure.
Fig. 4, Fig. 5 are a kind of bionical power loading of shoulder joint in vitro of the present invention and its Function detection experiment porch omoplate bone fixation
And muscle loading unit schematic diagram.
Fig. 6 is that a kind of external bionical power of shoulder joint of the present invention loads and its Function detection experiment porch humerus clamps and rotation
Measuring unit schematic diagram.
Fig. 7 is that a kind of external bionical power of shoulder joint of the present invention loads and its Function detection experiment porch humerus moves pilot arc
Frame schematic diagram.
Fig. 8 is a kind of bionical power loading of shoulder joint in vitro of the present invention and its Function detection experiment porch head of humerus displacement detecting
Cell schematics.
Label in figure：1- carrier units, 2- base units, 3- omoplates bone fixation and muscle loading unit, the clamping of 4- humerus
And rotation-measuring unit, 5- humerus motion guiding arc frame, 6- head of humerus displacement detecting units
101- aluminum section bar frames, 102- support angle bar vertically, the upper slide rail installation angle bar of 103-, 104- stage+module angle bar,
1050 glidepaths install angle bar
201- platforms, 202- square columns, the quiet T-shaped seats of 203-, 204- rolling bearing units, 205-T seat rotating shafts, 206- moves T-shaped
Seat
301- transition disks, 302- slotted disks, 303- push rod rod end carrier bars, 304- push rod rod end loading plates, 305-
Supraspinous muscle carrier bar, 306- supraspinous muscle guide rods, 307- cross holders, 308- supraspinous muscle loading plates, 309- shoulder blades, 3010- locks
Bone, 3011- humerus, 3012- deltoid muscle carrier bars, 3013- deltoid muscle guide rods, 3014- deltoid muscle loading plates, 3015- ropes,
3016- back sides flesh loading plate, 3017- back sides flesh guide rod, 3018- back sides flesh carrier bar, 3019- omoplate bone clamping plates, 3020- pulling force
Sensor, 3021- threaded connecting sleeves, 3022- air-legs, 3023- clavicle fixtures, 3024- clavicles fix carrier bar, 3025-
Six-dimension force sensor, flesh carrier bar before 3026-, flesh guide rod before 3027-, flesh loading plate before 3028-
401- bicipital muscle of arm loading plates, 402- humerus fixtures, 403- air-leg mounting rings, 404- screw rods, 405- are lengthened
Nut, 406- bearing inner sleeves, 407- bearing (ball) covers, 408- bearings, 409- bearing outsides, 4010- shaft couplings, 4011- encoders
Mounting bracket, 4012- angular encoders, 4013- sliding block rollers, 4014- sliding block composing plates, 4015- sliding block blockings, 4016- are adjusted
The whole series, the mini air-legs of 4017-, the mini threaded connecting sleeves of 4018-
501- line slide rails, 502- linear sliders, 503- sliding block installing plates, 504- limited blocks, 505- arc frame mounting bars,
506- arc frame rotating shafts, 507- arc frame rolling bearing units, 508- holders, 509- semicircle slide rails
601- three-dimensional digitals, 602- digitizer mounting seats, 603-G words folder
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, a kind of external bionical power of shoulder joint loads and its Function detection experiment porch, mainly by carrier unit
1st, base unit 2, omoplate bone fixation and muscle loading unit 3, humerus clamping and rotation-measuring unit 4, humerus motion pilot arc
Totally six parts form for frame 5 and head of humerus displacement detecting unit 6.
As shown in Figure 1 and Figure 2, carrier unit 1 is mainly built by more aluminium section bars by the connection of corner fittings attachment screw
Aluminum section bar frame 101, vertical support angle bar 102, upper slide rail installation angle bar 103, stage+module angle bar 104 and glidepath established angle
Iron 105 forms.Aluminum section bar frame 101 divides for front and rear two layers, vertical to support angle bar 102 symmetrically to bolt in aluminum section bar frame
On the crossbeam at the disconnected place of 101 sand grounds.Upper slide rail installation angle bar 103, stage+module angle bar 104 and glidepath install angle bar 105 from upper past
Under bolt successively vertically support angle bar 102 on.
As shown in Figure 1, Figure 2, Figure 3 shows, base unit is mainly by platform 201, square column 202, quiet T-shaped seat 203, axle of usheing to seat
Hold 204, Building T rotating shaft 205 and move T-shaped seat 206 and form.Platform 201 is bolted the stage+module angle bar in carrier unit 1
On 104, to be threadedly connected to platform 201, quiet T-shaped seat 203 is threadingly attached to square column 202, usherd to seat square column 202
Bearing 204 is arranged on quiet T-shaped seat 203, and Building T rotating shaft 205 is through rolling bearing units 204 and by the lock-screw of rolling bearing units 204
Locking, move T-shaped seat 206 and be connected by flat key with Building T rotating shaft 205.The phase of shoulder blade is by quiet T-shaped seat 203, the and of Building T rotating shaft 205
Revolute pair that dynamic T-shaped seat 206 is formed is adjusted.In addition, move T-shaped seat 206 on be machined with several be used for position through hole, quiet T
One is machined with type seat 203 can through hole corresponding with dynamic T-shaped upper Positioning holes of seat 206, you can with a bearing pin also cross point
Quiet T-shaped seat 203 and the hole of T-shaped seat 206 Wei Yu not be moved, for the fixed phase for moving T-shaped seat 206.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, omoplate bone fixation and muscle loading unit are mainly by transition disk 301, trough of belt
Disk 302, push rod rod end carrier bar 303, push rod rod end loading plate 304, supraspinous muscle carrier bar 305, supraspinous muscle guide rod 306, ten
Word holder 307, supraspinous muscle loading plate 308, human vitronectin shoulder joint sample (including shoulder blade 309, clavicle 3010 and from middle and lower part
The crosscutting humerus 3011 blocked), deltoid muscle carrier bar 3012, deltoid muscle guide rod 3013, deltoid muscle loading plate 3014, rope
3015th, back side flesh loading plate 3016, back side flesh guide rod 3017, back side flesh carrier bar 3018, omoplate bone clamping plate 3019, pull sensing
Device 3020, threaded connecting sleeve 3021, air-leg 3022, clavicle fixture 3023, clavicle fix carrier bar 3024, six-dimensional force sensing
Device 3025, above flesh carrier bar 3026, above flesh guide rod 3027 and above flesh loading plate 3028 forms.Transition disk 301 and dynamic T
Type seat 206 is connected, and slotted disk 302 is connected with transition disk 301, and six-dimension force sensor 3025 is arranged on slotted disk 302.
Omoplate bone clamping plate 3019 with mode connects for screw in the installation panel of six-dimension force sensor 3025, by three bolts matched somebody with somebody by shoulder blade 309
Extra large size pad is closed to be fixed in omoplate bone clamping plate 3019.Clavicle 3010 is inserted into clavicle fixture 3023, and in clavicle fixture
Screw on screw and lock clavicle 3010 in 3023 outer rings.One end that clavicle fixes carrier bar 3024 is connected with clavicle fixture 3023, separately
One end is connected with slotted disk 302.Air-leg 3022 is installed on slotted disk 302, and pulling force sensor 3020 passes through spiral shell
Line adapter sleeve 3021 is connected with the rod end of air-leg 3022.The one end of push rod rod end carrier bar 303 is fixed on slotted disk 302,
One end is equipped with push rod rod end loading plate 304, is machined with some pilot holes on plate, pilot hole corresponds with air-leg 3022.
Supraspinous muscle carrier bar 305, deltoid muscle carrier bar 3012, back side flesh carrier bar 3018 and above flesh carrier bar 3018 one end difference
It is connected on slotted disk 302, rigging position can be changed in the ring shaped slot of slotted disk 302, the other end of carrier bar passes through
Cross holder 307 respectively with supraspinous muscle guide rod 306, deltoid muscle guide rod 3013, back side flesh guide rod 3017 and above flesh guide rod 3027
It is orthogonal to be connected.Therefore, guide rod can make the position adjustments of four-degree-of-freedom relative to carrier bar, meanwhile, carrier bar can be in slotted disk
Ring shaped slot in move, therefore guide rod shares the position adjustments of five frees degree (three prismatic pairs, two revolute pairs).Supraspinous muscle is held
Support plate 308, deltoid muscle loading plate 3014, back side flesh loading plate 3016 and above flesh loading plate 3028 respectively with supraspinous muscle guide rod
306th, deltoid muscle guide rod 3013, back side flesh guide rod 3017 are connected with above flesh guide rod 3027.Therefore loading plate and guide rod is adjustable
The free degree is consistent.The one end of rope 3015 is connected with the pulling force sensor 3020 of the rod end of air-leg 3022, through push rod rod end bearing
The loading plate of support plate 304 and each muscle group (supraspinous muscle loading plate 308, deltoid muscle loading plate 3014, back side flesh loading plate 3016
Above flesh loading plate 3028) on pilot hole, the other end is connected with each muscle group correspondence position of humerus.Air-leg 3022
Bionic muscle pulling force is provided, pulling force sensor 3020 feeds back actual pulling force, forms power closed loop, accurately realizes that bionical power loaded
Journey.When power loads, Glenohumeral joint surface pressure is measured by six-dimension force sensor 3025, while utilize and be placed on acromion ShiShimonoseki internode
The diaphragm pressure sensing piece measurement compression area and maximum pressure of gap.
As shown in Fig. 1, Fig. 4, Fig. 5, Fig. 6, humerus clamping and rotation-measuring unit mainly by bicipital muscle of arm loading plate 401,
Humerus fixture 402, air-leg mounting ring 403, screw rod 404, lengthening nut 405, bearing inner sleeve 406, bearing (ball) cover 407, axle
Hold 408, bearing outside 409, shaft coupling 4010, encoder mounting rack 4011, angular encoder 4012, arc top shoe (including cunning
Block roller 4013, sliding block composing plate 4014, sliding block blocking 4015), adjusting sleeve 4016, mini air-leg 4017, mini spiral shell
Line adapter sleeve 4018, rope 3015 and pulling force sensor 3020 form.Sliding block roller 4013 is connected by screw to be formed in sliding block
On plate 4014, there is pad to separate between the inner ring of sliding block roller 4013 and sliding block composing plate 4014, two panels sliding block composing plate 4014 is logical
Cross the both sides that screw is connected to sliding block blocking 4015.Humerus fixture 402 be connected by lock-screw and humerus 3011 and
Both axis are approximate to be overlapped.Bicipital muscle of arm loading plate 401 is held on end face greatly mounted in humerus fixture 402.Pulling force sensor 3020 is logical
Mini threaded connecting sleeve 4018 is crossed with mini air-leg 4017 to be connected.Mini air-leg 4017 is mounted in air-leg mounting ring
On 403, air-leg mounting ring 403 and the circumferentia of humerus fixture 402 are connected by screw.Two mini air-leg 4017
Rope 3015 is coordinated to simulate the long head and brachycephaly of the bicipital muscle of arm respectively, its actual pulling force feeds back to calculating by pulling force sensor 3020
Machine, form the loading system of power closed loop.Screw rod is screwed into from the small end screwed hole of humerus fixture 402, and inserts the inner side of humerus 3011,
Strengthen the connection of humerus 3011 and humerus fixture 402.Meanwhile the small end of humerus fixture 402 is screwed with lock-screw and prevents screw rod from working
Shi Fasheng relative to humerus fixture rotation.Lengthen nut 405 to be screwed on screw rod 404, and with screw lock, avoid lengthening nut
405 relatively rotate with screw rod 404.Bearing inner sleeve 406 is fixed on screw rod 404 by lock-screw, bearing inner race interference
Ordinatedly it is arranged on the cylinder of bearing inner sleeve 406, the outer ring of bearing 408 is installed with the interference fit of bearing outside 409, bearing (ball) cover
407 on the end face of bearing outside 408, and pushes down the outer ring of bearing 408 and prevent its axial float.Bearing outside 409 passes through simultaneously
Bolt is connected with arc top shoe, causes bearing outside 408 to keep certain spacing with sliding block equipped with adjusting sleeve on bolt, to adapt to
The rigging position relation of angular encoder 4012 and arc top shoe.The mounting bracket of encoder 4012 is bolted on arc sliding
Block, angular encoder 4012 are arranged on encoder mounting rack 4011.The shaft end of angular encoder 4012 passes through shaft coupling 4010
It is connected with the tail end of screw rod 404.It is certain big by torque wrench application at nut 405 lengthening when the measurement inside and outside swing angle of humerus is spent
Small moment of torsion causes humerus to rotate to extreme position, meanwhile, angular encoder 4012 measures the inside and outside swing angle angle value of humerus.
As shown in Figure 1, Figure 6, Figure 7, humerus motion guiding arc frame is mainly by line slide rail 501, linear slider 502, sliding block
Installing plate 503, limited block 504, arc frame mounting bar 505, arc frame rotating shaft 506, arc frame rolling bearing units 507, holder 508 and half are round and smooth
Rail 509 forms.Wherein, the both sides of semicircle slide rail 509 are machined with annular groove.Arc top shoe is assemblied on semicircle slide rail 509, sliding block
Roller 4013 moves in the annular groove of semicircle slide rail 509, guides the abduction of humerus, interior receipts.The both ends of semicircle slide rail 509 point
Zhuan not be on upper and lower two holders 508.Holder 509 is mounted in one end of arc frame rotating shaft 506 by key connection, arc frame rotating shaft 506
The other end is fixed through the inner ring of arc frame rolling bearing units 507 and by its lock-screw.Arc frame rolling bearing units 507 are mounted in arc frame mounting bar
505 one end, limited block 504 is housed on the other end end face of arc frame mounting bar 505, prevents line slide rail 501 from derailing.Semicircle slide rail
The arc frame mounting bar 505 at 509 both ends is attached separately on the straight line slide unit of upper and lower two groups of two degrees of freedom.Straight line slide unit has two layers up and down
Slideway, first layer slideway have two line slide rails 501, and two sliding blocks are respectively provided with every one slide rail.Four of first layer slideway
Sliding block is attached separately to the one side of sliding block installing plate 503, and another side is equipped with two sliding blocks of the second layer, and a line slide rail 501 is worn
The guide hole of this two sliding blocks is crossed, and is assemblied on arc frame mounting bar 505.It follows that humerus motion guiding arc frame shares three
The free degree (two prismatic pairs, a revolute pair), guide the adjustment of humerus pose.
As shown in Fig. 1, Fig. 3, Fig. 8, head of humerus displacement detecting unit is mainly installed by three-dimensional digital 601, digitizer
The composition of 602 and G of seat words folder 603.The base of 3D digitizer 601 is connected with digitizer mounting seat 602, and G words press from both sides 603 by number
Word instrument mounting seat 602 is clamped on platform 201.3D digitizer 601 has the measurement energy of six-freedom degree displacement
Power, the head of humerus is measured when loading motion in glenoid cavity here with its end high-precision locus perception of sensing
Interior change in location.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (7)
1. a kind of external bionical power of shoulder joint loads and its Function detection experiment porch, it is characterised in that：Including carrier unit, base
Seat unit, omoplate bone fixation and muscle loading unit, humerus clamping and rotation-measuring unit, humerus motion guiding arc frame unit and
Head of humerus displacement detecting unit, wherein, described base unit and described humerus motion guiding arc frame unit directly with it is described
Carrier unit assembly connection, described base unit connects with described omoplate bone fixation and muscle loading unit with hinging manner
Connect, described humerus motion guiding arc frame unit is connected with described described omoplate bone fixation and muscle loading unit, described
Humerus clamping and rotation-measuring unit be connected with described shoulder blade and muscle loading unit, described head of humerus displacement detecting
Unit is fixed on described base unit.
2. the external bionical power of shoulder joint according to claim 1 loads and its Function detection experiment porch, it is characterised in that
The carrier unit includes framework, two vertical support members, upper slide rail installing plate, stage+module plate and glidepath installing plate group
Into described framework is divided into front and rear two layers by the crossbeam at the disconnected place of sand ground, and two vertical support members are symmetrically bolted described in
Crossbeam on, described upper slide rail installing plate, stage+module plate and glidepath installing plate bolt perpendicular at two successively from top to bottom
In allotment support member.
3. the external bionical power of shoulder joint according to claim 2 loads and its Function detection experiment porch, it is characterised in that
The base unit includes platform, square column, quiet T-shaped seat, rolling bearing units, Building T rotating shaft and moves T-shaped seat, and described platform connects
It is connected on the described stage+module plate of carrier unit, described square column is connected on platform, described quiet T-shaped seat connection
In on described square column, described rolling bearing units are installed on described quiet T-shaped seat, and described Building T rotating shaft is described in
Rolling bearing units and locked by the lock-screw on described rolling bearing units, described dynamic T-shaped seat passes through flat key and described Building T
Rotating shaft connects, and is processed on described dynamic T-shaped seat and is provided with multiple through holes for being used to position, and described quiet T-shaped seat has one
The corresponding through hole that can be fixed with described dynamic T-shaped seat upper Positioning holes by bearing pin.
4. the external bionical power of shoulder joint according to claim 3 loads and its Function detection experiment porch, it is characterised in that
The omoplate bone fixation and muscle loading unit include transition disk, slotted disk, push rod rod end carrier bar, the carrying of push rod rod end
Plate, multiple muscle carrier bars, muscle guide rod, cross holder, rope, omoplate bone clamping plate, pulling force sensor, threaded connecting sleeve, line
Property push rod, clavicle fixture, clavicle fix carrier bar, multi-dimension force sensor, described transition disk and described dynamic T-shaped seat phase
Even, described slotted disk is connected with described transition disk, and described multi-dimension force sensor is arranged on described slotted disk
On, described omoplate bone clamping plate mode connects for screw is in the installation panel of described multi-dimension force sensor, human vitronectin shoulder joint
The omoplate bone parts of sample are fixed in described omoplate bone clamping plate, and clavicle is partially inserted into described clavicle fixture, described
Clavicle fix carrier bar one end be connected with described clavicle fixture, the other end is connected with described slotted disk, described
Linear push rod is installed on described slotted disk, and described pulling force sensor is connected with described linear push rod rod end, institute
The push rod rod end carrier bar one end stated is fixed on described slotted disk, and the described push rod rod end carrier bar other end is equipped with institute
The push rod rod end loading plate stated, is machined with multiple pilot holes on described push rod rod end loading plate, described pilot hole with it is linear
Push rod is corresponded, and one end of multiple muscle carrier bars is connected on described slotted disk, described multiple muscle carrier bars
The other end by cross holder it is orthogonal with muscle guide rod be connected, described muscle carrier bar is in the ring-like of described slotted disk
Moved in groove.
5. the external bionical power of shoulder joint according to claim 4 loads and its Function detection experiment porch, it is characterised in that
Humerus clamping and rotation-measuring unit include bicipital muscle of arm loading plate, humerus fixture, linear push rod mounting ring, screw rod plus
It is long nut, bearing inner sleeve, bearing (ball) cover, bearing, bearing outside, shaft coupling, encoder mounting rack, angular encoder, sliding on arc
Block, adjusting sleeve, mini linear push rod, mini threaded connecting sleeve, wherein, described arc top shoe includes sliding block roller, two pieces of cunnings
Block composing plate, sliding block blocking, described sliding block roller are connected by screw on described sliding block composing plate, described sliding block
There is pad to separate between roller and described sliding block composing plate, two panels sliding block composing plate is connected to sliding block by screw and formed
The both sides of block, described humerus fixture is connected by the humerus part of lock-screw and human vitronectin shoulder joint sample and both axles
Line is approximate to be overlapped, and described bicipital muscle of arm loading plate is on the described big end end face of humerus fixture, described pulling force sensor
It is connected by described mini threaded connecting sleeve with described mini linear push rod, described mini linear push rod is mounted in linear push
In bar mounting ring, described linear push rod mounting ring is connected with the circumferentia of described humerus fixture, and described screw rod is from described
The small end screwed hole of humerus fixture be screwed into, and insert humerus sections inner side, described humerus fixture small end is screwed with lock-screw,
Described lengthening nut is screwed on described screw rod, and described bearing inner sleeve is fixed on described screw rod, in described bearing
Set cylinder interference fit is provided with bearing inner race, and described bearing outside interference fit is provided with bearing outer ring, described bearing
End cap pushes down described bearing outer ring and prevents its axial float on the described bearing outside end face, outside described bearing
Set is connected by bolt with described arc top shoe simultaneously, equipped with adjusting sleeve bearing outside is protected with sliding block on described bolt
Certain spacing is held, described encoder mounting rack is connected with described arc top shoe, and described angular encoder is arranged on institute
On the encoder mounting rack stated, the shaft end of described angular encoder passes through described shaft coupling and described screw rod tail end phase
Even.
6. the external bionical power of shoulder joint according to claim 5 loads and its Function detection experiment porch, it is characterised in that
The humerus motion guiding arc frame includes more line slide rails, at least two groups of linear sliders, sliding block installing plate, limited block, arc frame
Mounting bar, arc frame rotating shaft, arc frame rolling bearing units, upper holder, lower holder and semicircle slide rail composition, described semicircle slide rail both sides add
Work has annular groove, and described arc top shoe is assemblied on described semicircle slide rail, and described sliding block roller is in described annular
Moved in chute, described, the both ends of described semicircle slide rail are attached separately on the upper holder and lower holder, the upper holder
With the one end for being mounted in described arc frame rotating shaft on lower holder by key connection, the other end of described arc frame rotating shaft is through described
The inner ring of arc frame rolling bearing units is simultaneously fixed by its lock-screw, and described arc frame rolling bearing units are mounted in described arc frame mounting bar one
Hold, limited block is housed on the other end end face of arc frame mounting bar, the arc frame mounting bar at described semicircle slide rail both ends is attached separately to
At least on two groups of straight line slide units, at least two groups of straight line slide units have upper and lower two layers of slideway, and first layer slideway has two line slide rails, often
Two sliding blocks are respectively provided with one slide rail, two sliding blocks of first layer slideway are attached separately to the one side of sliding block installing plate, separately
Two sliding blocks of the second layer are simultaneously housed, a line slide rail passes through the guide hole of this two sliding blocks, and is assemblied in described arc frame
On mounting bar.
7. a kind of external bionical power of shoulder joint according to claim 6 loads and its Function detection experiment porch, its feature
It is, head of humerus displacement detecting unit includes 3D digitizer, digitizer mounting seat and G words folder, described 3-dimensional digital
The base for changing instrument is connected with described digitizer mounting seat, and digitizer mounting seat is clamped on platform by G words folder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867402.5A CN107702978B (en) | 2017-09-22 | 2017-09-22 | In-vitro shoulder joint bionic force loading and function detection experiment platform thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867402.5A CN107702978B (en) | 2017-09-22 | 2017-09-22 | In-vitro shoulder joint bionic force loading and function detection experiment platform thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107702978A true CN107702978A (en) | 2018-02-16 |
| CN107702978B CN107702978B (en) | 2024-03-19 |
Family
ID=61174301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710867402.5A Active CN107702978B (en) | 2017-09-22 | 2017-09-22 | In-vitro shoulder joint bionic force loading and function detection experiment platform thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107702978B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108766169A (en) * | 2018-06-25 | 2018-11-06 | 上海市第六人民医院 | Knee joint power loads and biomechanics characteristic test experience platform |
| CN111665141A (en) * | 2020-06-03 | 2020-09-15 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN112444361A (en) * | 2019-09-05 | 2021-03-05 | 郑州宇通客车股份有限公司 | Passenger car framework joint fixing tool and passenger car framework joint rigidity detection device |
| CN112816329A (en) * | 2021-01-29 | 2021-05-18 | 上海市第六人民医院 | Shoulder joint biomechanics experiment platform |
| CN114601603A (en) * | 2022-04-22 | 2022-06-10 | 上海视疆科学仪器有限公司 | Glenoid prosthesis loosening and separating tester |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1806754A (en) * | 2005-12-19 | 2006-07-26 | 清华大学 | Apparatus for detecting tuberosity displacement after humeral head replacement operation |
| CN200963136Y (en) * | 2006-08-22 | 2007-10-24 | 中国人民解放军第三军医大学第一附属医院 | General biological joint six free degree dynamic stress loading system |
| KR101095195B1 (en) * | 2011-02-11 | 2011-12-16 | 강원대학교산학협력단 | Testing apparatus for artificial shoulder joint |
| CN102407789A (en) * | 2011-11-18 | 2012-04-11 | 江苏大学 | Electromagnetic drive type crash-active headrest and control method thereof |
| CN203234752U (en) * | 2013-04-12 | 2013-10-16 | 同济大学 | Shoulder joint experimental apparatus with angle thereof capable of being adjusted freely within multiple planes |
| CN203551372U (en) * | 2013-10-17 | 2014-04-16 | 吉林大学 | Platform for in situ testing micro mechanical properties of material in shearing-torsion composite load mode |
| CN103760006A (en) * | 2014-01-02 | 2014-04-30 | 上海大学 | Artificial hip joint fatigue testing device |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN105616010A (en) * | 2015-12-21 | 2016-06-01 | 北京积水潭医院 | Biomechanical test rack for cadaver shoulder joint specimen |
| CN105686834A (en) * | 2016-01-17 | 2016-06-22 | 北京工业大学 | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information |
| CN207248608U (en) * | 2017-09-22 | 2018-04-17 | 赵金忠 | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch |
-
2017
- 2017-09-22 CN CN201710867402.5A patent/CN107702978B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1806754A (en) * | 2005-12-19 | 2006-07-26 | 清华大学 | Apparatus for detecting tuberosity displacement after humeral head replacement operation |
| CN200963136Y (en) * | 2006-08-22 | 2007-10-24 | 中国人民解放军第三军医大学第一附属医院 | General biological joint six free degree dynamic stress loading system |
| KR101095195B1 (en) * | 2011-02-11 | 2011-12-16 | 강원대학교산학협력단 | Testing apparatus for artificial shoulder joint |
| CN102407789A (en) * | 2011-11-18 | 2012-04-11 | 江苏大学 | Electromagnetic drive type crash-active headrest and control method thereof |
| CN203234752U (en) * | 2013-04-12 | 2013-10-16 | 同济大学 | Shoulder joint experimental apparatus with angle thereof capable of being adjusted freely within multiple planes |
| CN203551372U (en) * | 2013-10-17 | 2014-04-16 | 吉林大学 | Platform for in situ testing micro mechanical properties of material in shearing-torsion composite load mode |
| CN103760006A (en) * | 2014-01-02 | 2014-04-30 | 上海大学 | Artificial hip joint fatigue testing device |
| CN105616010A (en) * | 2015-12-21 | 2016-06-01 | 北京积水潭医院 | Biomechanical test rack for cadaver shoulder joint specimen |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN105686834A (en) * | 2016-01-17 | 2016-06-22 | 北京工业大学 | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information |
| CN207248608U (en) * | 2017-09-22 | 2018-04-17 | 赵金忠 | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108766169A (en) * | 2018-06-25 | 2018-11-06 | 上海市第六人民医院 | Knee joint power loads and biomechanics characteristic test experience platform |
| CN112444361A (en) * | 2019-09-05 | 2021-03-05 | 郑州宇通客车股份有限公司 | Passenger car framework joint fixing tool and passenger car framework joint rigidity detection device |
| CN112444361B (en) * | 2019-09-05 | 2022-10-28 | 宇通客车股份有限公司 | Passenger car framework joint fixing tool and passenger car framework joint rigidity detection device |
| CN111665141A (en) * | 2020-06-03 | 2020-09-15 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111665141B (en) * | 2020-06-03 | 2022-11-29 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN112816329A (en) * | 2021-01-29 | 2021-05-18 | 上海市第六人民医院 | Shoulder joint biomechanics experiment platform |
| CN114601603A (en) * | 2022-04-22 | 2022-06-10 | 上海视疆科学仪器有限公司 | Glenoid prosthesis loosening and separating tester |
| CN114601603B (en) * | 2022-04-22 | 2024-10-11 | 上海视疆科学仪器有限公司 | Glenoid prosthesis loosening and separating testing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107702978B (en) | 2024-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107702978A (en) | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch | |
| CN102622936B (en) | Parallel experimental device for six-degree-of-freedom gait simulation | |
| CN105686834B (en) | A kind of wearing exoskeleton mechanism for being used to detect human upper limb shoulder Glenohumeral joint movable information | |
| US9351857B2 (en) | Method and apparatus for joint motion simulation | |
| CN105559790B (en) | A kind of wearing exoskeleton mechanism for being used to detect upper limb shoulder joint of human body pivot positional information | |
| CN107149539B (en) | Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method | |
| CN104835399B (en) | The emulation platform and its implementation of a kind of simulated vehicle low-and high-frequency motion | |
| CN108766169B (en) | Knee joint force loading and biomechanics characteristic detection experiment platform | |
| CN207248608U (en) | A kind of external bionical power of shoulder joint loads and its Function detection experiment porch | |
| CN107175652A (en) | A kind of gravitational equilibrium mechanism for upper limb healing ectoskeleton | |
| CN107174206A (en) | A kind of model of human ankle rigidity detection device | |
| CN112432795B (en) | Dummy for children | |
| Zhang et al. | Improvement of human–machine compatibility of upper-limb rehabilitation exoskeleton using passive joints | |
| CN203520744U (en) | Universal loading device for ankle | |
| CN104792361B (en) | Cone columnar member barycenter, the inclined measurement apparatus of matter | |
| CN208611729U (en) | A kind of wushu training equipment | |
| CN104504984B (en) | The test device of six degree of freedom gait simulation | |
| CN202648949U (en) | Infrared induction type rod-end bearing life testing machine | |
| Han et al. | Design of a booster exoskeleton for lumbar spine protection of physical workers | |
| CN205580761U (en) | Locomotive curve analogue test platform | |
| CN205655900U (en) | A mechanism for detecting fan -shaped paper pulp abrasive disc quality barycenter | |
| KR101091336B1 (en) | 8 degree of freedom motion device for biomechanical testing articulation humeri | |
| CN110718129B (en) | Six-degree-of-freedom knee joint motion simulation system | |
| CN109738214B (en) | A dummy's shank mechanism for massage armchair function detects | |
| CN105674928A (en) | Rotor elongation and bounce detection bench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190816 Address after: No. 600 Yishan Road, Xuhui District, Shanghai, 2003 Applicant after: SHANGHAI SIXTH PEOPLE'S Hospital Address before: No. 600 Yishan Road, Xuhui District, Shanghai, 2003 Applicant before: Zhao Jinzhong Applicant before: Yu Suiran Applicant before: Fang Liang Applicant before: Jiang Jia |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210608 Address after: Room 180611, Songqiao Road, Xinjiang District, Shanghai Applicant after: INNOMOTION Inc. (SHANGHAI) Address before: 200233 No. 600, Xuhui District, Shanghai, Yishan Road Applicant before: SHANGHAI SIXTH PEOPLE'S Hospital |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |