CN108354608A - Ankle-joint mechanical impedance detection device - Google Patents
Ankle-joint mechanical impedance detection device Download PDFInfo
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- CN108354608A CN108354608A CN201810116352.1A CN201810116352A CN108354608A CN 108354608 A CN108354608 A CN 108354608A CN 201810116352 A CN201810116352 A CN 201810116352A CN 108354608 A CN108354608 A CN 108354608A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000035939 shock Effects 0.000 claims abstract description 36
- 230000001360 synchronised effect Effects 0.000 claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 210000003205 muscle Anatomy 0.000 description 8
- 210000002683 foot Anatomy 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 244000309466 calf Species 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000027455 binding Effects 0.000 description 1
- 238000009739 binding Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 1
- 229960001030 mephenoxalone Drugs 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
- 210000003371 toe Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
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- 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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
- A61B5/4595—Evaluating the ankle
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- 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
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Health & Medical Sciences (AREA)
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- Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
A kind of ankle-joint mechanical impedance detection device, including exciting component；Exciting component includes shock electric machine and vibrating shaft, and vibrating shaft is lifted on frame roof side, and on frame, vibrating shaft is driven shock electric machine by shock electric machine；Pedal assembly includes pedal shaft, and pedal shaft is lifted on the frame roof other side, and two cantilever upper ends, which are fixed, to be lifted on pedal shaft and vibrating shaft, and two cantilever lower ends are mounted on bottom plate both sides；Elastic parts includes the first disk, and on pedal shaft, the second disk can be sleeved on to rotation on pedal shaft outer end the first disk fixing sleeve, and torsion spring set is on pedal shaft and torsional spring both ends are connected with the first disk and the second disk respectively；Drive component includes drive shaft, drive shaft is coaxially lifted on frame with pedal shaft, and drive shaft one end is fixed and is inserted into the second disk, and the drive shaft other end is equipped with synchronizing wheel, on frame, driving motor output end is sequentially connected driving motor by synchronous belt and synchronizing wheel.It is detected suitable for ankle-joint mechanical impedance.
Description
Technical field
The present invention relates to a kind of ankle-joint detection device, more particularly to a kind of ankle-joint mechanical impedance detection device.
Background technology
The mechanical impedance of ankle-joint is the general designation of ankle-joint mechanical stiffness, damping and the moment of inertia, it is a kind of from time varying corner
Spend the mapping of then torque-variable.Ankle-joint mechanical impedance feature is related with the mechanical characteristic of muscle and nerve modulation, can be used for people
The evaluation of body ankle-joint health status also can be used as performance indicator when robot anklebone design.
Mechanical impedance feature of the ankle-joint under passive and active state has significantly different again.Passive mechanical impedance is human body
Calf muscle is under relaxation state, the relationship of angle and torque that ankle-joint is shown；Active mechanical impedance is that human body is small
When leg muscle active activation, the relationship of angle and torque that ankle-joint is shown；In this way, when measuring, ankle-joint only need to be measured
Angle change and moment variations.Research shows that ankle-joint mechanical impedance model can similar to a second order model,
However the parameter of model because of individual difference and does not have general applicability.Currently, for the inspection for meeting to ankle-joint mechanical impedance
It surveys and requires, existing ankle-joint mechanical impedance detection device is mostly complicated and of high cost.
Invention content
The purpose of the invention is to overcome the shortcomings of above-mentioned background technology, a kind of ankle-joint mechanical impedance detection dress is provided
It sets.
In order to achieve the goal above, a kind of ankle-joint mechanical impedance detection device provided by the invention, including：Frame, drive
Dynamic component, elastic parts, pedal assembly and exciting component；Wherein, the exciting component includes shock electric machine and vibrating shaft, described
Vibrating shaft can be lifted on to rotation the top side of the frame, and the shock electric machine installation corresponds to described sharp on said frame
Shake the position of axis, and the vibrating shaft is driven by the shock electric machine；The pedal assembly includes one piece of bottom plate, two cantilevers and one
Root pedal shaft, the pedal shaft can be lifted on to rotation the top other side of the frame, the upper end difference of described two cantilevers
Fixation is lifted on the pedal shaft and the vibrating shaft, and the lower end of described two cantilevers is separately mounted to the two of the bottom plate
Side；The elastic parts includes the first disk, torsional spring and the second disk, and first disk is fixedly set in the pedal shaft
On, second disk can be sleeved on to rotation on the outer end of the pedal shaft, the torsion spring set on the pedal shaft and
The both ends of the torsional spring are connected with first disk and second disk respectively；The driving component include driving motor,
Synchronous belt, synchronizing wheel and drive shaft, the top that the drive shaft can be lifted on to rotation the frame correspond to outside the pedal shaft
The position at end, and the drive shaft and the pedal shaft are coaxially arranged, one end of the drive shaft, which is fixed, is inserted into described second
In disk, the other end of the drive shaft is equipped with the synchronizing wheel, and the driving motor is installed on said frame, the driving
The output end of motor is sequentially connected by the synchronous belt and the synchronizing wheel.
The present apparatus drives drive shaft turns by driving motor by synchronous belt and synchronizing wheel first, then passes through bullet by drive shaft
Property component drive bottom plate rotate to predetermined angle after lock its position, in order to Disturbance Detection later, at this point, exciting can be measured
The rotational angle of axis or pedal shaft, then torque can be calculated by the elasticity modulus of the rotational angle and torsional spring；Then by swashing
The motor that shakes provides disturbing moment by vibrating shaft for bottom plate, the real-time electricity which can be exported by the controller of shock electric machine
Stream, voltage and rotary speed information obtain, while can measure the rotational angle of vibrating shaft or pedal shaft, it can be seen that, the present apparatus is complete
The testing requirements to ankle-joint mechanical impedance can be met entirely, and simple in structure, it is at low cost and easy to operate simple.In addition, elastic
The use of component provides a large-scale Static output torque for ankle-joint, greatly reduces and provides needed for random perturbation
Torque burden.Moreover, driving motor and shock electric machine with the use of the requirement measured to motor performance is reduced, reduce
Cost.
In the above scheme, the first disc type for measuring the vibrating shaft rotational angle is installed to compile on the vibrating shaft
Code device.The the first disc type encoder side added measure vibrating shaft rotational angle.
In the above scheme, the second disc type for measuring the drive shaft turns angle is installed to compile in the drive shaft
Code device.The the second disc type encoder side added measure drive shaft rotational angle.
In the above scheme, retarder is equipped between the shock electric machine and the vibrating shaft, the retarder is mounted on
The position between the shock electric machine and the vibrating shaft is corresponded on the frame, the output end of the shock electric machine subtracts with described
The input terminal of fast device is connected, and the output end of the retarder is connected with the vibrating shaft, and the shock electric machine is the private clothes electricity of high speed
Machine.The cooperation that motor is taken by elastic parts and high rotating speed private, provides the disturbance met the requirements, can effectively measure ankle-joint machine
Tool impedance, while reducing system building cost.
In the above scheme, the vibrating shaft can be lifted on said frame to rotation by two exciting bearings.
In the above scheme, it is connected by adjusting bolt between the bottom plate and the cantilever, it is right in the adjusting bolt
It answers and is respectively installed with the first adjusting nut on the top and bottom of the pedestal of the cantilever, the bottom is corresponded in the adjusting bolt
The second adjusting nut is respectively installed on the top and bottom of plate.Spiral shell is adjusted by adjusting bolt and the first adjusting nut and second
The height of the adjustable chassis assembly of mutual cooperation between mother, to make the ankle-joint rotation center of measured and the rotation center of bottom plate
Alignment.
In the above scheme, the both sides of the bottom plate are equipped with the through-hole for fixing sole, and the rear portion of the bottom plate is equipped with
Slotted hole is equipped with the post follow block for positioning heel at the slotted hole by clamping screw.The through-hole added facilitates
The fixation of measured's sole；The post follow block added facilitates the fixation of measured's heel, at the same clamping screw and slotted hole it
Between cooperation be adaptable to different size of foot size.
In the above scheme, connecting rod is equipped between described two cantilevers, the pedal shaft can be certainly by two step bearings
Turn ground lifting on said frame.By adding connecting rod between two cantilevers, pedal assembly can be made more firm in this way.
In the above scheme, the drive shaft is by driving bearing can lift on said frame to rotation.
In the above scheme, the driving motor is permanent magnet synchronous motor, and the permanent magnet synchronous motor is mounted on the frame
The bottom of frame, the synchronous belt are belt.By the way that permanent magnet synchronous motor to be mounted on to the bottom of the frame, this dress can be made in this way
It sets more stable.
The advantageous effect that technical solution provided by the invention is brought is：
1, the present apparatus drives drive shaft turns by driving motor by synchronous belt and synchronizing wheel first, then is passed through by drive shaft
Elastic parts locks its position after driving bottom plate to rotate to predetermined angle, in order to Disturbance Detection later, at this point, can measure sharp
Shake the rotational angle of axis or pedal shaft, then can calculate torque by the elasticity modulus of the rotational angle and torsional spring；Then by
Shock electric machine provides disturbing moment by vibrating shaft for bottom plate, which can be exported real-time by the controller of shock electric machine
Electric current, voltage and rotary speed information obtain, while can measure the rotational angle of vibrating shaft or pedal shaft, it can be seen that, the present apparatus
The testing requirements to ankle-joint mechanical impedance can be met completely, and simple in structure, it is at low cost and easy to operate simple；
2, the use of elastic parts provides a large-scale Static output torque for ankle-joint, greatly reduces and carry
For the torque burden needed for random perturbation；
3, driving motor and shock electric machine with the use of the requirement measured to motor performance is reduced, reduce cost；
4, the first disc type encoder side added measure vibrating shaft rotational angle；
5, the second disc type encoder side added measure drive shaft rotational angle；
6, the cooperation that motor is taken by elastic parts and high rotating speed private, provides the disturbance met the requirements, can effectively measure
Ankle-joint mechanical impedance, while reducing system building cost；
7, pass through the adjustable chassis assembly of mutual cooperation between adjusting bolt and the first adjusting nut and the second adjusting nut
Highly, to make the ankle-joint rotation center of measured be aligned with the rotation center of bottom plate；
8, the through-hole added facilitates the fixation of measured's sole；
9, the post follow block added facilitates the fixation of measured's heel, while the cooperation between clamping screw and slotted hole
It is adaptable to different size of foot size；
10, by the way that permanent magnet synchronous motor to be mounted on to the bottom of the frame, the present apparatus can be made more stable in this way.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is another viewing angle constructions schematic diagram of Fig. 1；
Fig. 3 is the another viewing angle constructions schematic diagram of Fig. 1；
Fig. 4 is the position relationship structural diagram between drive component, elastic parts, pedal assembly and exciting component；
Fig. 5 is another structural schematic diagram of Fig. 4；
Fig. 6 is the another viewing angle constructions schematic diagram of Fig. 4；
Fig. 7 is another viewing angle constructions schematic diagram of Fig. 4；
Fig. 8 is the position relationship cross-section structure signal between drive component, elastic parts, pedal assembly and exciting component
Figure；
Fig. 9 is device stress diagram.
In figure, frame 1, drive component 2, driving motor 2a, synchronous belt 2b, synchronizing wheel 2c, drive shaft 2d, the second disc type volume
Code device 2e, drives bearing 2f, elastic parts 3, the first disk 3a, torsional spring 3b, the second disk 3c, pedal assembly 4, and bottom plate 4a hangs
Arm 4b, pedal shaft 4c, adjusting bolt 4d, the first adjusting nut 4e, the second adjusting nut 4f, through-hole 4g, slotted hole 4h, post follow block
4i, connecting rod 4j, step bearing 4k, exciting component 5, shock electric machine 5a, vibrating shaft 5b, the first disc type encoder 5c, retarder 5d,
Exciting bearing 5e.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
As shown in Figure 1, a kind of ankle-joint mechanical impedance detection device provided by the invention, including：Frame 1, drive component
2, elastic parts 3, pedal assembly 4 and exciting component 5；Wherein, the exciting component 5 includes shock electric machine 5a and vibrating shaft 5b,
The vibrating shaft 5b can be lifted on to rotation the top side of the frame 1, and the shock electric machine 5a is mounted on the frame 1
The position of the corresponding vibrating shaft 5b, the vibrating shaft 5b are driven by the shock electric machine 5a；The pedal assembly 4 includes one piece
Bottom plate 4a, two cantilever 4b and a pedal shaft 4c, the top that the pedal shaft 4c can be lifted on to rotation the frame 1 are another
Side, fixation is lifted on the pedal shaft 4c and the vibrating shaft 5b respectively for the upper end of described two cantilever 4b, described two outstanding
The lower end of arm 4b is separately mounted to the both sides of the bottom plate 4a；The elastic parts 3 includes the first disk 3a, torsional spring 3b and second
Disk 3c, the first disk 3a are fixedly set on the pedal shaft 4c, and the second disk 3c can be sleeved on to rotation institute
On the outer end for stating pedal shaft 4c, the torsional spring 3b be sleeved on the pedal shaft 4c and the both ends of the torsional spring 3b respectively with it is described
First disk 3a is connected with the second disk 3c；The driving component 2 includes driving motor 2a, synchronous belt 2b, synchronizing wheel 2c
The top that the frame 1 can be lifted on to rotation with drive shaft 2d, the drive shaft 2d corresponds to the position of the outer ends the pedal shaft 4c
It sets, and the drive shaft 2d and the pedal shaft 4c are coaxially arranged, one end of the drive shaft 2d, which is fixed, is inserted into described second
In disk 3c, the other end of the drive shaft 2d is equipped with the synchronizing wheel 2c, and the driving motor 2a is mounted on the frame 1
On, the output end of the driving motor 2a is sequentially connected by the synchronous belt 2b and synchronizing wheel 2c.
The present apparatus drives drive shaft 2d rotations by driving motor 2a by synchronous belt 2b and synchronizing wheel 2c first, then by driving
Moving axis 2d locks its position after driving bottom plate 4a to rotate to predetermined angle by elastic parts 3, in order to Disturbance Detection later,
At this point, the rotational angle of vibrating shaft 5b or pedal shaft 4c can be measured, then it is by the elasticity modulus of the rotational angle and torsional spring 3b
Torque can be calculated；Then disturbing moment is provided for bottom plate 4a by vibrating shaft 5b by shock electric machine 5a, which can be by
Real-time current, voltage and the rotary speed information of the controller output of shock electric machine 5a obtain, while can measure vibrating shaft 5b or step on
The rotational angle of board shaft 4c, it can be seen that, the present apparatus can meet the testing requirements to ankle-joint mechanical impedance, and structure letter completely
It is single, it is at low cost and easy to operate simple.In addition, the use of elastic parts 3, it is defeated to provide a large-scale static state for ankle-joint
Go out torque, the torque burden provided needed for random perturbation is be provided.Moreover, the cooperation of driving motor 2a and shock electric machine 5a
Using the requirement measured to motor performance is reduced, cost is reduced.
The first disc type encoder 5c for measuring the vibrating shaft 5b rotational angles is installed on above-mentioned vibrating shaft 5b.Add
If the first disc type encoder 5c facilitate the rotational angle for measuring vibrating shaft 5b.It is equipped on the drive shaft 2d for measuring
Second disc type encoder 2e of the drive shaft 2d rotational angles.The the second disc type encoder 2e added facilitates measurement drive shaft
The rotational angle of 2d.
It is equipped with retarder 5d, the retarder 5d between above-mentioned shock electric machine 5a and the vibrating shaft 5b and is mounted on described
The position between the shock electric machine 5a and the vibrating shaft 5b, the output end of the shock electric machine 5a and institute are corresponded on frame 1
The input terminal for stating retarder 5d is connected, and the output end of the retarder 5d is connected with the vibrating shaft 5b, the shock electric machine 5a
Motor is taken for high speed private.The vibrating shaft 5b can be lifted on the frame 1 to rotation by two exciting bearing 5e.Pass through bullet
Property component 3 and high rotating speed private take the cooperation of motor, provide the disturbance met the requirements, can effectively measure ankle-joint mechanical impedance,
Reduce system building cost simultaneously.
It is connected by adjusting bolt 4d between above-mentioned bottom plate 4a and the cantilever 4b, institute is corresponded on the adjusting bolt 4d
It states and is respectively installed on the top and bottom of the pedestal of cantilever 4b on the first adjusting nut 4e, the adjusting bolt 4d described in correspondence
The second adjusting nut 4f is respectively installed on the top and bottom of bottom plate.By adjusting bolt 4d and the first adjusting nut 4e and
The height of the adjustable chassis assembly 4a of mutual cooperation between second adjusting nut 4f, so as to make the ankle-joint rotation center of measured with
The rotation center of bottom plate 4a is aligned.After the both sides of the bottom plate 4a are equipped with for fixing the through-hole 4g, the bottom plate 4a of sole
Portion is equipped with the post follow block 4i being equipped with by clamping screw at slotted hole 4h, the slotted hole 4h for positioning heel.It adds
Through-hole 4g facilitate the fixation of measured's sole；The post follow block 4i added facilitates the fixation of measured's heel, locks simultaneously
Tightly the cooperation between bolt and slotted hole 4h is adaptable to different size of foot size.Connecting rod is equipped between described two cantilever 4b
4j, the pedal shaft 4c can be lifted on the frame 1 to rotation by two step bearing 4k.By two cantilever 4b it
Between add connecting rod 4j, pedal assembly 4 can be made more firm in this way.
Above-mentioned drive shaft 2d is by driving bearing 2f can be lifted on the frame 1 to rotation.The driving motor 2a is
Permanent magnet synchronous motor, the permanent magnet synchronous motor are mounted on the bottom of the frame 1, and the synchronous belt 2b is belt.Passing through will
Permanent magnet synchronous motor is mounted on the bottom of the frame 1, the present apparatus can be made more stable in this way.
The detecting step of the present apparatus is as follows：
1, the intrinsic parameter measurement of device
To eliminate the influence of the factors such as experimental provision self inertia, friction, ankle-joint mechanical impedance property is formally being measured
No load test is carried out before experiment.Specific experiment method is：Operator is sent by host computer to the controller of driving motor 2a
Rotation order, the 2a rotations of control driving motor, driving bottom plate 4a rotate to band-type brake locking driving motor 2a after predetermined angle；Start
Exciting component 5, reading angular and torque data.It repeats the above steps in multiple angles, obtains multi-group data.
2, prepare before experimenter measures
Before starting measurement, the rotation center of bottom plate 4a is adjusted according to measured's ankle-joint location, is allowed to and ankle
In on same axis.Specific method is the first adjusting nut 4e and the second adjusting nut 4f adjusted on four adjusting bolt 4d,
Change the height of rotation center；Post follow block 4i is slided, the front and back position stopped over is changed；It recycles the through-hole 4g on bottom plate 4a and stretches tight
Foot is fixed on bottom plate 4a by band.Activate degree that need to be sticked at shank gastrocnemius and tibialis anterior for observation ankle muscle
EMG electrodes.
3, measured's ankle obtains position (θ) and torque (τ) parameter under relaxation state
Pedal is fixed on any position that ankle-joint can normally be bent (45 ° of toes of dorsiflex bend 75 °)；Start exciting dress
It sets, reading angular and torque data.Ensure that measured's Calf muscle is in relaxation state by electromyogram.It is repeated in multiple angles
Above-mentioned steps obtain multi-group data.
4, measured's ankle is in muscle activation state measurement position (θ) and torque (τ) parameter
In measured's ankle on the experiment basis under relaxation state, it is desirable that measured's Calf muscle is in anxiety
State, reading angular and torque data.(5%~40%) repeats the above steps under a variety of muscle activation states, obtains multigroup
Data.
The method for calculating ankle-joint mechanical impedance model parameter is as follows：
As shown in figure 9, θ0For the second disc type encoder 2e institutes measuring angle, θ is the first disc type encoder 5c institutes measuring angle, K
For the coefficient of elasticity of torsional spring 3b,
τ=Ts+Tl (1)
Ts=K (θ-θ0) (2)
Wherein τ is torque of the pedal assembly 4 to elastic parts 3 and exciting component 5, and Ts is elastic parts 3 to pedal assembly
4 torque, Tl are torque of the exciting component 5 to pedal assembly 4.
1) computing system impulse response
The present apparatus measures ankle joint angle u under state of disturbanceθ(i.e. θ) and yτSubstituted into respectively after (i.e. τ) torque formula (3),
(4)
Obtain uθWith yτCross-correlation relational expression Ryu(k) and uθAuto-correlation Ruu(k) relational expression,
In conjunction with formula (5)
It obtainsFor the shock response FIR (Fini te Impulse Response) of system.
2) for the influence of cancellation element itself, the FIR of (bottom plate 4a does not have foot contact) equipment when should analyze zero load first.
According to detecting step 1, state of disturbance lower plate 4a angles are measuredAnd torqueAccording to method for computing data 1) when obtaining zero load
The FIR of equipment is
3) according to detecting step 3 and 4, angle when ankle-joint and bottom plate 4a bindings move under state of disturbance is measuredAnd power
Square
4) ankle-joint mechanical impedance property is obtained.By formula (6)
Obtain the dynamic force moment of ankle-joint after removal device impedance disturbances
ByWithThe FIR that ankle-joint is obtained further according to formula (3) (4) (5) is
5) ankle-joint mechanical impedance model is built
Approached with second-order model Is2+Bs+K, such as use least square method, obtain model parameter, i.e. mechanical impedance I, B and
K。
The present embodiment drives drive shaft 2d to rotate by driving motor 2a by synchronous belt 2b and synchronizing wheel 2c first, then by
Drive shaft 2d locks its position after driving bottom plate 4a to rotate to predetermined angle by elastic parts 3, in order to disturbance inspection later
It surveys, at this point, the rotational angle of vibrating shaft 5b or pedal shaft 4c can be measured, then passes through the elasticity modulus of the rotational angle and torsional spring 3b
Torque can be calculated；Then disturbing moment is provided for bottom plate 4a by vibrating shaft 5b by shock electric machine 5a, which can
Real-time current, voltage and the rotary speed information exported by the controller of shock electric machine 5a obtains, at the same can measure vibrating shaft 5b or
The rotational angle of pedal shaft 4c, it can be seen that, the present apparatus can meet the testing requirements to ankle-joint mechanical impedance, and structure completely
Simply, at low cost and easy to operate simple；The use of elastic parts 3 provides a large-scale Static output for ankle-joint
Torque greatly reduces the torque burden provided needed for random perturbation；Driving motor 2a and shock electric machine 5a's is used cooperatively drop
The low requirement measured to motor performance, reduces cost；The the first disc type encoder 5c added, which is facilitated, measures vibrating shaft 5b
Rotational angle；The the second disc type encoder 2e added facilitates the rotational angle for measuring drive shaft 2d.
In addition, the present embodiment takes the cooperation of motor by elastic parts 3 and high rotating speed private, disturbing of meeting the requirements is provided
It is dynamic, ankle-joint mechanical impedance can be effectively measured, while reducing system building cost；Spiral shell is adjusted by adjusting bolt 4d and first
The height of the adjustable chassis assembly 4a of mutual cooperation between female 4e and the second adjusting nut 4f, to make the ankle-joint of measured rotate
Center is aligned with the rotation center of bottom plate 4a；The through-hole 4g added facilitates the fixation of measured's sole；The post follow block 4i added
The fixation of measured's heel is facilitated, while the cooperation between clamping screw and slotted hole 4h is adaptable to different size of foot
Size；By the way that permanent magnet synchronous motor to be mounted on to the bottom of the frame 1, the present apparatus can be made more stable in this way.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of ankle-joint mechanical impedance detection device, which is characterized in that including：Frame (1), drive component (2), elastic parts
(3), pedal assembly (4) and exciting component (5)；Wherein, the exciting component (5) includes shock electric machine (5a) and vibrating shaft
(5b), the vibrating shaft (5b) can be lifted on to rotation the top side of the frame (1), and the shock electric machine (5a) is mounted on
The position of the vibrating shaft (5b) is corresponded on the frame (1), the vibrating shaft (5b) is driven by the shock electric machine (5a)；Institute
It includes one piece of bottom plate (4a), two cantilevers (4b) and a pedal shaft (4c) to state pedal assembly (4), and the pedal shaft (4c) can be certainly
It is lifted on the top other side of the frame (1) with turning, the upper end of described two cantilevers (4b) is fixed respectively to be lifted on described step on
In board shaft (4c) and the vibrating shaft (5b), the lower end of described two cantilevers (4b) is separately mounted to the two of the bottom plate (4a)
Side；The elastic parts (3) includes the first disk (3a), torsional spring (3b) and the second disk (3c), and first disk (3a) is solid
Surely it is sleeved on the pedal shaft (4c), second disk (3c) can be sleeved on to rotation the outer end of the pedal shaft (4c)
On, the torsional spring (3b) be sleeved on the pedal shaft (4c) and the both ends of the torsional spring (3b) respectively with first disk
(3a) is connected with second disk (3c)；The driving component (2) includes driving motor (2a), synchronous belt (2b), synchronizing wheel
(2c) and drive shaft (2d), the top that the drive shaft (2d) can be lifted on to rotation the frame (1) correspond to the pedal shaft
The position of the outer end (4c), and the drive shaft (2d) and the pedal shaft (4c) are coaxially arranged, one end of the drive shaft (2d)
Fixed to be inserted into second disk (3c), the other end of the drive shaft (2d) is equipped with the synchronizing wheel (2c), the drive
Dynamic motor (2a) is mounted on the frame (1), and the output end of the driving motor (2a) passes through the synchronous belt (2b) and institute
State synchronizing wheel (2c) drive connection.
2. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that installed on the vibrating shaft (5b)
It is useful for measuring the first disc type encoder (5c) of the vibrating shaft (5b) rotational angle.
3. ankle-joint mechanical impedance detection device as claimed in claim 2, which is characterized in that installed on the drive shaft (2d)
It is useful for measuring the second disc type encoder (2e) of the drive shaft (2d) rotational angle.
4. ankle-joint mechanical impedance detection device as claimed in claim 2, which is characterized in that the shock electric machine (5a) and institute
It states and is equipped with retarder (5d) between vibrating shaft (5b), the retarder (5d) is mounted on the frame (1) and corresponds to the exciting
Position between motor (5a) and the vibrating shaft (5b), output end and the retarder (5d) of the shock electric machine (5a)
Input terminal is connected, and the output end of the retarder (5d) is connected with the vibrating shaft (5b), and the shock electric machine (5a) is high speed
Private takes motor.
5. ankle-joint mechanical impedance detection device as claimed in claim 2, which is characterized in that the vibrating shaft (5b) passes through two
A exciting bearing (5e) can be lifted on to rotation on the frame (1).
6. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that the bottom plate (4a) is hanged with described
It is connected by adjusting bolt (4d) between arm (4b), the top surface of the pedestal of the cantilever (4b) is corresponded on the adjusting bolt (4d)
With the first adjusting nut (4e) is respectively installed on bottom surface, the top and bottom of the bottom plate are corresponded on the adjusting bolt (4d)
On be respectively installed with the second adjusting nut (4f).
7. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that the both sides of the bottom plate (4a) are set
It is useful for the through-hole (4g) of fixed sole, the rear portion of the bottom plate (4a) is equipped with slotted hole (4h), leads at the slotted hole (4h)
It crosses clamping screw and post follow block (4i) for positioning heel is installed.
8. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that between described two cantilevers (4b)
Equipped with connecting rod (4j), the pedal shaft (4c) can be lifted on to rotation on the frame (1) by two step bearings (4k).
9. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that the drive shaft (2d) passes through drive
Dynamic bearing (2f) can be lifted on to rotation on the frame (1).
10. ankle-joint mechanical impedance detection device as described in claim 1, which is characterized in that the driving motor (2a) is
Permanent magnet synchronous motor, the permanent magnet synchronous motor are mounted on the bottom of the frame (1), and the synchronous belt (2b) is belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810116352.1A CN108354608B (en) | 2018-02-06 | 2018-02-06 | Ankle joint mechanical impedance detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810116352.1A CN108354608B (en) | 2018-02-06 | 2018-02-06 | Ankle joint mechanical impedance detection device |
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| Publication Number | Publication Date |
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| CN108354608A true CN108354608A (en) | 2018-08-03 |
| CN108354608B CN108354608B (en) | 2020-07-03 |
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| CN201810116352.1A Expired - Fee Related CN108354608B (en) | 2018-02-06 | 2018-02-06 | Ankle joint mechanical impedance detection device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2649067Y (en) * | 2003-09-09 | 2004-10-20 | 上海久工实业有限公司 | Leg-foot massager |
| CN101123934A (en) * | 2004-12-30 | 2008-02-13 | D·考尔兹 | Vibration dynamometer |
| US20110256983A1 (en) * | 2009-12-04 | 2011-10-20 | Joseph Malack | Virtual ankle and balance trainer system |
| CN102836048A (en) * | 2012-08-17 | 2012-12-26 | 清华大学 | Rehabilitation training robot for lower limbs |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN204798295U (en) * | 2015-04-27 | 2015-11-25 | 上海璟和技创机器人有限公司 | Low limbs rehabilitation training robot |
-
2018
- 2018-02-06 CN CN201810116352.1A patent/CN108354608B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2649067Y (en) * | 2003-09-09 | 2004-10-20 | 上海久工实业有限公司 | Leg-foot massager |
| CN101123934A (en) * | 2004-12-30 | 2008-02-13 | D·考尔兹 | Vibration dynamometer |
| US20110256983A1 (en) * | 2009-12-04 | 2011-10-20 | Joseph Malack | Virtual ankle and balance trainer system |
| CN102836048A (en) * | 2012-08-17 | 2012-12-26 | 清华大学 | Rehabilitation training robot for lower limbs |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN204798295U (en) * | 2015-04-27 | 2015-11-25 | 上海璟和技创机器人有限公司 | Low limbs rehabilitation training robot |
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| CN108354608B (en) | 2020-07-03 |
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