CN109157233A - A kind of function of joint test training system - Google Patents
A kind of function of joint test training system Download PDFInfo
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- CN109157233A CN109157233A CN201811246526.2A CN201811246526A CN109157233A CN 109157233 A CN109157233 A CN 109157233A CN 201811246526 A CN201811246526 A CN 201811246526A CN 109157233 A CN109157233 A CN 109157233A
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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
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
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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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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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
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
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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
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
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Abstract
The present invention discloses a kind of function of joint test training system, solves the prior art and assesses when carrying out function of joint evaluation by doctor's sense, so as to cause test result poor repeatability, and there is a problem of that many human factors cause result inaccuracy.The present invention includes the joint dynamometer for measuring motion limbs produced torque on each moving position in motion range during joint motions, computer control system, training feedback system is tested, and for fixing tester's position and connecting tester's motion limbs with joint dynamometer to guarantee that tester can complete the arthrodesis device of constant speed muscle strength test under prescribed form.The present invention can acquire, store and show the Mechanical Data of motion limbs produced torque on each moving position in motion range during joint motions, and the original Mechanical Data is combined with scientific achievement, automatically intelligent evaluation analysis is carried out to the function of joint of test subject, and provides the training program of reasonable science.
Description
Technical field
The present invention relates to a kind of functions of joint to test training system.
Background technique
The movement of human body depends on the movement in joint, and bone is combined with each other under the driving of muscle, in nervous system
Domination under complete movement under daily life and various specified conditions.There is various factors that can cause joint and muscle in life
Function is destroyed or function reduces, such as fracture caused by wound, neurotrosis；It does not move for a long time, age growth etc. causes joint
Functional deterioration severely impacts the production and living of people.Therefore objective to function of joint evaluation and joint exercise scheme
It formulates particularly important.The evaluation of function of joint mainly includes that the motion range in joint drives the strength of articular muscle, nerveous system
The ability that system matches articular branches, the inner tensions etc. of muscle.Currently, the assessment method of clinical joint function and muscle strength is main
It is commented using unarmed dynamometry method MMT, or using the instrument and equipment of some dynamometry by measuring Mechanical Data progress function of joint
Estimate.
Dynamometry method MMT unarmed first, this mode is dependent on the sense of doctor and subject in inspection
There is very big subjectivity in the result of reaction, assessment, be unable to the function that objective comprehensively reacts joint.Secondly, using one
A little dynameters are acquired analysis by the torque or pulling force that generate to joint motions and evaluate joint, but this
The test process of appraisal procedure is more difficult to control, mutual between the location of movement velocity, joint, joint in motion process
Compensatory factor can cause the deviation of test result, and test repeatability is poor.Third, for test result data assessment mainly according to
Corresponding evaluation point can just be made in the exercise anatomy of operator, the professional knowledge of biomethanics and test experience abundant by relying
Analysis.This analysis mode has very strong professional, and evaluating the result of judgement, there is also many artificial factors.
Therefore, designing a can acquire, stores and show during joint motions motion limbs in motion range respectively
The function of joint of the Mechanical Data of produced torque tests training system on moving position, in order to the joint function for test subject
It can evaluate and original Mechanical Data is provided, and the original Mechanical Data is combined with scientific achievement, automatically to the pass of test subject
It saves function and carries out intelligent evaluation analysis, and provide the training program of reasonable science, become skilled artisan urgently
Technical problem to be solved.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of function of joint test training system, can acquire, store and
The Mechanical Data of motion limbs produced torque on each moving position in motion range during display joint motions, in order to
Original Mechanical Data is provided for the function of joint evaluation of test subject, and the original Mechanical Data is combined with scientific achievement,
Automatically intelligent evaluation analysis is carried out to the function of joint of test subject, and provides the training program of reasonable science.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of function of joint test training system, including for motion limbs during measuring joint motions in motion range
The joint dynamometer of produced torque on interior each moving position controls the computer control system of the joint dynamometer operation,
Training feedback system is tested, and for fixing tester's position and connecting tester's motion limbs to protect with joint dynamometer
Card tester can complete the arthrodesis device of constant speed muscle strength test under prescribed form；
The joint dynamometer includes servo motor, the first transmission belt, retarder, dynamic force moment sensor, angle sensor
Device, joint dynamometer connector and the second transmission belt, the servo motor are connected by the transmission belt and the retarder
It connects, the retarder is connect with the dynamic force moment sensor, and the dynamic force moment sensor is connect with the joint dynamometer
Device connection, the angular transducer are connect by the second transmission belt and 1 ﹕, 1 synchromesh gear with the dynamic force moment sensor；
The computer control system includes servo-driver, analog-digital converter and computer, and the computer passes through institute
Analog-digital converter is stated to connect with the servo-driver, the angular transducer and the dynamic force moment sensor respectively, it is described
Servo-driver is connect with the servo motor；
The test training feedback system includes video display, camera and mobile display, and the video is shown
Device is connect by wireless WIFI with the computer, and peak force square, the peak value transmitted for real-time display computer does work, transports
Dynamic speed proportional and joint averaged curve, the camera are connect by wireless video controller with the computer, for real
When collecting test person's motion limbs joint sport video and by motion limbs joint sport video information real-time Transmission collected
To the computer, the mobile display is connect by wireless WIFI with the computer, for calculating described in real-time display
The motion limbs joint sport video that machine transmits；
The arthrodesis device includes fixed mechanism for fixing tester's position and for by tester's locomotory appendage
Body is connect to guarantee that tester can complete the movement mechanism of constant speed muscle strength test under prescribed form with joint dynamometer, described
Movement mechanism includes that matches with the joint dynamometer connector and can be connected with the joint dynamometer connector
A connector, the L-type connector being installed on first connector and the U-shaped first fixed bracket；The L-type connects
Fitting includes the horizon bar for connecting and being in a horizontal state with first connector and is connected to the perpendicular of horizon bar free end vertically
Straight-bar, there are two bearings, the first support bracket fastened open end to pass through two bearings installations for suit on the horizon bar
In on the horizon bar, and the first support bracket fastened bottom end is fixed by bolts on test envelope or test chair, described
The outside of vertical bar is equipped at least two for fixing the bandage of tester's motion limbs；The fixed mechanism includes plate-like
Second fixed bracket, the second support bracket fastened inside are equipped with for being mounted on test envelope or testing the hook on chair, and
The second support bracket fastened outside is equipped at least two for fixing tester's limbs to fix the fixing belt of tester's position.
Further, the joint dynamometer is additionally provided with dynamometer shell, and the servo motor, first transmission
Band, the retarder, the dynamic force moment sensor, the angular transducer and second transmission belt are integrated in the survey
In power meter shell.
Further, the elevator that the joint dynamometer is additionally provided with mobile platform and is installed on the mobile platform
Platform, the dynamometer shell are installed on the lifting board, and the bottom of the mobile platform is equipped with a pair of fixed bracket and one
To shifting roller, a pair of fixed bracket is located at the bottom both ends of the mobile platform, a pair of shifting roller point
Be not installed on the bottom both ends of the mobile platform by telescopic rod, and two shifting rollers be located at it is corresponding described
Support bracket fastened inside, a pair of fixed bracket are an integral structure with the mobile platform respectively, and the lifting board is
Electric up-down board, and it is connect by the analog-digital converter with the computer.
Further, the joint dynamometer further includes having spare USP power supply, and the spare USP power supply is flush-mounted in
In the mobile platform, the spare USP power supply connects with the computer, the servo-driver and the servo motor respectively
It connects.
Further, the computer control system further includes brake switch and hand-held emergency button, the brake switch
It is connect positioned at the top of the dynamometer shell, and by the analog-digital converter with the computer, in abnormal shape
Servo motor described in emergency cut-off under state, the hand-held emergency button is located at the tangible place of tester, and passes through the modulus
Converter is connect with the computer, for servo motor described in the emergency cut-off under abnormality.
Further, the test training feedback system further include wirelessly connect with the computer it is wireless
Headset, the earphone-microphone is worn on tester head, so as to interact between tester and computer by medium of sound.
Further, the retarder is 50 ﹕, 1 retarder, and the revolving speed of the servo motor is 3000 revs/min, rotation
Torque is 12Nm, power 1.5KW.
Further, the movement mechanism further includes universal interlocking bar and is connected to the universal interlocking bar two
Second connector and third connector at end, second connector are connect with the joint dynamometer connector, the third
Connector is connect with first connector.
Further, the movement mechanism further includes cross laser locator, and the free end of the horizon bar, which offers, is in
Horizontal embedding slot, the cross laser locator is in the embedding slot.
Further, it is set on the outside of the vertical bar there are two bandage, there are two the second support bracket fastened outside is set
Fixing belt.
Compared with prior art, the invention has the following advantages:
The configuration of the present invention is simple, design is scientific and reasonable, easy to use, can acquire, store and show joint motions process
The Mechanical Data of middle motion limbs produced torque on each moving position in motion range, in order to the joint for test subject
Functional evaluation provides science original Mechanical Data.
The present invention includes being produced on each moving position in motion range for motion limbs during measuring joint motions
The joint dynamometer of raw torque, the computer control system of control joint dynamometer operation, and for fixing tester's position
And tester's motion limbs are connect with joint dynamometer to guarantee that tester can complete constant speed muscle strength under prescribed form and survey
The arthrodesis device of examination；Wherein the dynamic force moment sensor of joint dynamometer is used to complete torque acquisition measurement, can be direct
Torque caused by the rotational movement process of joint is measured, and measured Joint mechanics data are stored and shown by computer
Show, can intuitively understand torque caused by each muscle group when joint motions, it also can be to trained pass without professional knowledge abundant
Section makes accurate rehabilitation training mechanics Training valuation.
The dynamic force moment transducer range of joint dynamometer of the present invention is ± 500Nm, and torque output is analog DC voltage
Form, analog voltage output area ± 5V, positive voltage of exerting oneself clockwise are counterclockwise firmly negative voltage, dynamic force
Output is zero when square sensor is without outer power drive.The torque in rotary motion can be directly tested using dynamic force moment sensor to become
Change, torque mode is not calculated using pressure sensor and arm of force product or rotor amperometric calculates torque indirectly.
Dynamic force moment sensor, which directly measures joint moment, can ensure test data high-precision；Measuring system has highly sensitive, high
Reliability.
Test subject easily can be carried out test Postural immobilization by arthrodesis device of the present invention, while can also be to it
Motion limbs are connect to guarantee that test subject can complete constant speed muscle strength test under prescribed form with joint dynamometer；Joint
Fixed device is mainly made of fixed mechanism and movement mechanism, and fixed mechanism includes the second fixed bracket and fixes branch set on second
Two fixing belts on frame, the second fixed bracket inside set hook, can integrally be mounted fixed mechanism by hook to test
On bed or test chair, test subject can be fixed on the second fixed bracket by fixing belt, to fix the body of test subject
Position, it is simple and practical；Movement mechanism includes the first connector, L-type connector, the first fixed bracket, bearing and bandage, and first is fixed
Bracket is mounted on the horizon bar of L-type connector by bearing, and horizon bar is installed by the first connector to the dynamometer of joint, stretches tight
Band is set in the vertical bar of L-type connector, so can be well by test subject for fixing the motion limbs of test subject
Motion limbs connect with joint dynamometer to guarantee that test subject can complete constant speed muscle strength test under prescribed form.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the structural schematic diagram of joint dynamometer and computer control system of the present invention.
Fig. 3 is movement mechanism structural schematic diagram of the present invention.
Fig. 4 is fixed mechanism structural schematic diagram of the present invention.
Fig. 5 is the universal interlocking bar structural schematic diagram of the present invention.
Fig. 6 is present invention test training feedback system schematic.
Fig. 7 is that video display of the present invention shows picture figure.
Fig. 8 is the present invention test real-time analysis chart of training data.
Wherein, the corresponding title of appended drawing reference are as follows:
1- servo motor, the first transmission belt of 2-, 3- retarder, 4- dynamic force moment sensor, 5- angular transducer, the joint 6-
Dynamometer connector, 7- servo-driver, 8- analog-digital converter, 9- computer, the second transmission belt of 10-, 11- dynamometer shell,
12- brake switch, 13- mobile platform, 14- lifting board, 15- fixed bracket, 16- shifting roller, 17- video display, 18-
The fixed bracket of spare USP power supply, 19- camera, 20- earphone-microphone, the first connector of 21-, 22-L type connector, 23- first,
24- second fixes bracket, 25- fixing belt, the universal interlocking bar of 26-, the second connector of 27-, 28- third connector, 29- cross and swashs
The hand-held emergency button of light-seeking device, 30- mobile display, 31-, 32- wireless video controller, 221- horizon bar, 222- are vertical
Bar, 223- bearing, 224- bandage.
Specific embodiment
The invention will be further described with embodiment for explanation with reference to the accompanying drawing, and mode of the invention includes but not only limits
In following embodiment.
As shown in figures 1-8, a kind of function of joint provided by the invention tests training system, and structure is simple, design science is closed
Reason, it is easy to use, it can acquire, store and show during joint motions motion limbs in motion range on each moving position
The Mechanical Data of produced torque, in order to provide science original Mechanical Data for the evaluation of the function of joint of test subject.This
Invention includes the pass for measuring motion limbs produced torque on each moving position in motion range during joint motions
Dynamometer is saved, the computer control system of the joint dynamometer operation is controlled, tests training feedback system, and for fixing
Tester's position and tester's motion limbs are connect with joint dynamometer to guarantee that tester can complete under prescribed form
The arthrodesis device of constant speed muscle strength test.
Joint dynamometer of the present invention includes servo motor 1, the first transmission belt 2, retarder 3, dynamic force moment sensor
4, angular transducer 5, joint dynamometer connector 6 and the second transmission belt 10, the servo motor 1 pass through the transmission belt 2
Connect with the retarder 3, the retarder 3 is connect with the dynamic force moment sensor 4, the dynamic force moment sensor 4 with
The joint dynamometer connector 6 connects, the angular transducer 5 by the second transmission belt 10 and 1 ﹕, 1 synchromesh gear with it is described
Dynamic force moment sensor 4 connects, and the retarder 3 is 50 ﹕, 1 retarder, and the revolving speed of the servo motor is 3000 revs/min,
Rotating torque is 12Nm, power 1.5KW.
Joint dynamometer of the present invention is additionally provided with dynamometer shell 11, and the servo motor 1, first transmission
Band 2, the retarder 3, the dynamic force moment sensor 4, the angular transducer 5 and second transmission belt 10 are integrated in
In the dynamometer shell 11.The liter that the joint dynamometer is additionally provided with mobile platform 13 and is installed on the mobile platform 13
Board 14 drops, and the dynamometer shell 11 is installed on the lifting board 14, and the bottom of the mobile platform 13 is equipped with a pair
Fixed bracket 15 and a pair of of shifting roller 16, a pair of fixed bracket 15 are located at the bottom two of the mobile platform 13
End, a pair of shifting roller 16 are installed on the bottom both ends of the mobile platform 13, and two institutes by telescopic rod respectively
State the inside that shifting roller 16 is located at the corresponding fixed bracket 15, a pair of fixed bracket 15 respectively with the movement
Platform 13 is an integral structure.
The present invention includes being produced on each moving position in motion range for motion limbs during measuring joint motions
The joint dynamometer of raw torque, the computer control system of control joint dynamometer operation, and for fixing tester's position
And tester's motion limbs are connect with joint dynamometer to guarantee that tester can complete constant speed muscle strength under prescribed form and survey
The arthrodesis device of examination；Wherein the dynamic force moment sensor of joint dynamometer is used to complete torque acquisition measurement, can be direct
Torque caused by the rotational movement process of joint is measured, and measured Joint mechanics data are stored and shown by computer
Show, can intuitively understand torque caused by each muscle group when joint motions, it also can be to trained pass without professional knowledge abundant
Section makes accurate rehabilitation training mechanics Training valuation.
The dynamic force moment transducer range of joint dynamometer of the present invention is ± 500Nm, and torque output is analog DC voltage
Form, analog voltage output area ± 5V, positive voltage of exerting oneself clockwise are counterclockwise firmly negative voltage, dynamic force
Output is zero when square sensor is without outer power drive.The torque in rotary motion can be directly tested using dynamic force moment sensor to become
Change, torque mode is not calculated using pressure sensor and arm of force product or rotor amperometric calculates torque indirectly.
Dynamic force moment sensor, which directly measures joint moment, can ensure test data high-precision；Measuring system has highly sensitive, high
Reliability.
Arthrodesis device of the present invention includes fixed mechanism for fixing tester's position and for by tester
Motion limbs are connect to guarantee that tester can complete the fitness machine of constant speed muscle strength test under prescribed form with joint dynamometer
Structure, the movement mechanism include matching with the joint dynamometer connector 6 and can be with 6 phase of joint dynamometer connector
First connector 21 of connection, the L-type connector 22 being installed on first connector 21 and the first U-shaped fixation
Bracket 23；The L-type connector 22 includes the horizon bar 221 for connecting and being in a horizontal state with first connector 21 and vertical
It is connected to the vertical bar 222 of 221 free end of horizon bar, there are two bearing 223, described first is solid for suit on the horizon bar 221
The open end of fixed rack 23 is installed on the horizon bar 221 by two bearings 223, and the described first fixed bracket
23 bottom end is fixed by bolts on test envelope or test chair, and the outside of the vertical bar 222 is equipped at least two for solid
Determine the bandage 224 of tester's motion limbs；The fixed mechanism includes the second plate-like fixed bracket 24, and described second is fixed
The inside of bracket 24 is equipped with for being mounted on test envelope or testing the hook on chair, and the outside of the described second fixed bracket 24
Equipped at least two for fixing tester's limbs to fix the fixing belt 25 of tester's position.
Movement mechanism of the present invention further includes universal interlocking bar 26 and is connected to 26 liang of the universal interlocking bar
Second connector 27 and third connector 28 at end, second connector 27 are connect with the joint dynamometer connector 6, institute
Third connector 28 is stated to connect with first connector 21.The movement mechanism further includes cross laser locator 29, described
The free end of horizon bar 221 is offered in horizontal embedding slot, and the cross laser locator 29 is in the embedding slot.
The outside of the vertical bar 222 is set there are two bandage 224, and the outside of the described second fixed bracket 24 sets that there are two fixing belts 25.
Test subject easily can be carried out test Postural immobilization by arthrodesis device of the present invention, while can also be to it
Motion limbs are connect to guarantee that test subject can complete constant speed muscle strength test under prescribed form with joint dynamometer；Joint
Fixed device is mainly made of fixed mechanism and movement mechanism, and fixed mechanism includes the second fixed bracket and fixes branch set on second
Two fixing belts on frame, the second fixed bracket inside set hook, can integrally be mounted fixed mechanism by hook to test
On bed or test chair, test subject can be fixed on the second fixed bracket by fixing belt, to fix the body of test subject
Position, it is simple and practical；Movement mechanism includes the first connector, L-type connector, the first fixed bracket, bearing and bandage, and first is fixed
Bracket is mounted on the horizon bar of L-type connector by bearing, and horizon bar is installed by the first connector to the dynamometer of joint, stretches tight
Band is set in the vertical bar of L-type connector, so can be well by test subject for fixing the motion limbs of test subject
Motion limbs connect with joint dynamometer to guarantee that test subject can complete constant speed muscle strength test under prescribed form.
Computer control system of the present invention includes servo-driver 7, analog-digital converter 8 and computer 9, the calculating
Machine 9 is sensed with the servo-driver 7, the angular transducer 5 and the dynamic force moment respectively by the analog-digital converter 8
Device 4 connects, and the servo-driver 7 is connect with the servo motor 1.The computer control system further includes brake switch 12
With hand-held emergency button 31, the brake switch 12 is located at the top of the dynamometer shell 11, and is turned by the modulus
Parallel operation 8 is connect with the computer 9, for servo motor 1 described in the emergency cut-off under abnormality, the hand-held emergency button
31 are located at the tangible place of tester, and are connect by the analog-digital converter 8 with the computer 9, in abnormality
Servo motor 1 described in lower emergency cut-off.The computer control system further includes the video display connecting with the computer 9
17.The lifting board 14 is electric up-down board, and it is connect by the analog-digital converter 8 with the computer 9.Institute
Stating joint dynamometer further includes having spare USP power supply 18, and the spare USP power supply 18 is flush-mounted in the mobile platform 13
Interior, the spare USP power supply 18 is connect with the computer 9, the servo-driver 7 and the servo motor 1 respectively.
Test training feedback system of the present invention includes video display 17, camera 19, earphone-microphone 20, Yi Jiyi
Dynamic display 30, the video display 17 are connect by wireless WIFI with the computer 9, are passed for real-time display computer
The defeated peak force square to come, peak value acting, movement velocity ratio and joint averaged curve, the camera 19 pass through wireless video control
Device 32 processed is connect with the computer 9, for real-time collecting test person motion limbs joint sport video and by fortune collected
Dynamic limbs joint sport video information real-time Transmission to the computer 9, the mobile display 30 passes through wireless WIFI and institute
The connection of computer 9 is stated, it is described wireless for the motion limbs joint sport video that computer 9 described in real-time display transmits
The earphone-microphone 20 that headset 20 is wirelessly connect with the computer 9, the earphone-microphone 20 are worn on tester's head
Portion, so as to be interacted between tester and computer by medium of sound, it is clear that mobile display 30 can be convenient for be multiple
Tester's observation.
Joint dynamometer (joint dynamometer) of the present invention is that motion limbs exist during measuring joint motions
In motion range on each moving position produced torque device.Mainly by servo-driver, servo motor, retarder, dynamic
Torque sensor, transmission belt, connector, lifting board, mobile platform, brake switch, uninterruptible power supply, is consolidated angular transducer
The part such as fixed rack forms.Computer control system is mainly by groups such as analog-digital converter, control computer, wireless video controllers
At.
The driving of joint dynamometer of the present invention is completed by servo-driver control servo motor operating, servo-driver
Work is had in speed control mode, servo motor parameter design using 3000 revs/min, rotating torque 12Nm, power 1.5KW
Brake gear.Servo-driver works in analog control mode, and 0v-10v direct-current control voltage corresponds to 0-3000 revs/min of motor
Revolving speed.Servo motor is connect by transmission belt with retarder, primarily to the position of each component of reasonable arrangement joint dynamometer,
Keep integral mechanical structure compact, reduces the volume of dynamometer.3000 revs/min of rated speed of servo motor subtract through 50 ﹕, 1 retarder
It is connected to after speed on dynamic force moment sensor, 0-60 revs/min of the velocity interval of dynamic force moment after deceleration, torque sensor is by connecting
It connects device and is directly connected to test arthrodesis device, arthrodesis device fixes motion limbs, therefore tests the movement in joint
Velocity interval is 0-60 revs/min, i.e. the test scope of joint motions angular speed is 0-360 °/s.The angle of usual constant speed joint evaluation
Speed generallys use 30 °/s；60°/s；90°/s；120°/s；180°/s；300 °/s joint motions speed at most is not exceeded, this
The maximum speed of invention design is 360 °/s, can satisfy the requirement of constant speed joint muscular strength test speed.
Dynamic force moment sensor of the present invention is used to complete torque acquisition measurement, can directly measure joint rotational movement process
Generated torque, transducer range are ± 500Nm, and torque output is analog DC voltage form, analog voltage output area
± 5V, positive voltage of exerting oneself clockwise are counterclockwise firmly negative voltage, and output is zero when sensor is without outer power drive.
The moment variations in rotary motion can be directly tested using dynamic force moment sensor, not multiplied using pressure sensor with the arm of force
Product calculates torque mode or rotor amperometric calculates torque indirectly.Dynamic force moment sensor directly measures joint moment
It can ensure test data high-precision；Measuring system has highly sensitive, high reliability.
Angular transducer of the present invention uses 360 ° of absolute angle sensors, passes through transmission belt and the synchromesh gear of 1 ﹕ 1, connection
It is moved synchronously on to torque sensor with torque sensor, does not make any variable-speed processing.Angular transducer is for 0 ° of revolution space
0v-5v voltage, i.e. corresponding 360 ° of the position of DC voltage value are exported to 360 ° of positions.The torque sensor in this dynamometer
Space angle position is determined that the arthrodesis device connecting with torque sensor refers to position by angular transducer output voltage
Show device, defines 0 ° of position that vertical up position is dynamometer, the angular range rotated clockwise is 0 ° to 360 ° of Space Angle
Spend position.Dynamometer can acquire the torque data that joint motions rotate generation on 0 ° to 360 ° position.Servo control driver
It controls servo motor revolving speed and then controls joint motions angular speed, the joint for making subject be able to maintain constant angular speed is back and forth transported
Dynamic to move at the uniform velocity, dynamic force moment sensor acquires torque data in motion process, and angular transducer records locating for joint
Position, to complete dynamometry when joint moves at the uniform velocity.Joint moment sensor realizes the entire of constant speed muscle strength test
Process is the same analog-digital converter of crossing of control computer to servo controller, angular transducer, dynamic force moment sensor progress data
Acquisition is completed with analysis and Control.
Joint movement at the uniform velocity range of the invention and speed control.The determination of range of motion, first progress joint fortune
The definition of the position of dynamic Origin And Destination, joint dynamometer use 360 ° of Absolute angular encoders, and joint motions rise
Point and terminal are exactly joint in joint dynamometer in the corresponding angle position of 360 ° of range position ranges, 0 ° locating for angular transducer
To the d. c. voltage signal of 360 ° of spatial position output 0v-5v.The position of movement starting point and terminal has actually corresponded to angle biography
The voltage output of sensor.Angular transducer accesses analog-digital converter after converting voltage signal for the position signal measured, by mould
Quasi- signal is converted into digital signal and converts the determining joint position of calculating and motion range by computer software again.Movement velocity control
It is to control driving servo motor by servo-driver to complete, it is solid by retarder, dynamic force moment sensor, connector, joint
Determine device to be connected with joint to realize the measurement and control of joint movement at the uniform velocity process.Servo-driver is set as analog rate control
Operating mode processed, 3000 revs/min of revolving speed corresponding DC voltage+10V.That is: 1V=300 revs/min, servo motor has passed through 50:1
Retarder, therefore joint motions speed and the relationship of servo control voltage are 1V=6 revs/min, convert angular speed as 1V=6x
360/60=36 °/s, 360 °/s=10V.It controls computer and the velocity amplitude of software set is converted to by mould by analog-digital converter
Quasi- voltage value accesses servo-driver, to control servo motor running speed, control constant can control of voltage is kept to watch
It is constant to take motor speed, servo motor is to connect by decelerator moment sensor with arthrodesis device, therefore servo motor
Angular velocity of satellite motion of the constant arthrodesis device of revolving speed in motion range it is constant, arthrodesis device secures the position in joint
It sets, realizes constant speed joint motions in motion range to realize.Computer software sets friction speed can be by above
Formula calculates corresponding DC voltage, and DC voltage is transferred to the control of servo electric drive by analog-digital converter by computer
Servo motor running speed realizes joint motions speed control.
Movement at the uniform velocity torque data acquisition in joint of the invention.Joint dynamometer is exactly to measure joint to move in setting speed
The device of torque caused by process.When contraction of muscle drives limb motion, passed due to being transferred to dynamic force moment by connector
Sensor, dynamic force moment sensor can directly measure the torque generated when the movement of joint flexion/extension.The range of torque sensor be ±
The corresponding output voltage of 500Nm be ± 5V, output positive voltage be clockwise direction torque, negative voltage be counter clockwise direction torque, 0
Voltage exports for no torque.Torque voltage ratio 1V=100Nm.The torque that the movement in joint generates is turned by dynamic force moment sensor
Voltage signal is turned to, is converted into digital signal i.e. analog-to-digital conversion in process computer control analog-digital converter to complete joint motions
The torque of generation acquires.
Direction of motion control of the invention.Dynamic force moment sensor is by the torque signals measured with the shape of analog voltage signal
Formula accesses computer by analog-digital converter, and computer determines the driven direction of dynamometer, positive value by calculating comparative analysis
For up time driving, negative value is driving counterclockwise, and 0 value is no driving.By the signal of torque sensor will judge motor will
The direction of rotation, computer control analog-digital converter and export digital level, and servo-driver has direction controlling function, control electricity
The direction switch of flat driving servo motor, realizes the switching that servo motor is rotated clockwise or rotated counterclockwise, and completes movement side
To control.
Dynamometer movement of the invention stops and starting control.Servo-driver has enabled control terminal and the direction of motion
Control terminal calculates the Digital I/O end manipulation servo-driver that meter software systems issue command-control signal by analog-digital converter
It completes servo motor movement and stops and start control.In the motion range in joint, torque sensor is used to identify joint motions
Direction, that is, rotate clockwise as positive voltage otherwise be negative, the range of position sensor control movement, when reaching motion range
When two endpoints attempt the motion range more than setting, computer issues stopping control command and is converted into level through analog-digital converter
Signal accesses servo-driver and controls servo motor stop motion.It is firmly moved from direction of the movement endpoint into motion range
When, torque sensor collects the driving moment of fortune function, and computer identifies that setting direction controls level signal, is simultaneously emitted by order
Enabled servo-driver, analog-digital converter access servo-drive by program setting velocity amplitude conversion output speed analog control voltage
Device drives servo motor, and starting servo motor completes movement at the uniform velocity according to the speed set.
Acceleration of the invention, which slows down, to be controlled.Primary complete joint movement at the uniform velocity process generally includes 3 stages, accelerates
The stage is spent, the constant speed stage, the deceleration stage.Usually reach setting movement at the uniform velocity speed since static, this process is known as
Joint motions boost phase, the end point needs that same movable joint reaches motion range stop, from moving to stopping
Process is known as the decelerating phase moved.The process of acceleration-deceleration is that control computer passes through analog-digital converter generation variation rotation speed
It spends analog voltage signal and controls what servo motor running speed was realized by servo controller, the time rate of change (dV/ of voltage
Dt size) controls the intensity of joint acceleration or deceleration.
Torque correction of the invention.Torque is rectified precisely in order to removal mechanical device oneself factor such as gravity, frictional resistance etc.
Generate measured deviation.Dynamometer can be automatically performed the torque offset measurement calibration of 0 ° to 360 ° motion range.In dynamometer
Before carrying out function of joint test, dynamometer in the motion range of setting, drives arthrodesis device according to the speed of regulation
Rotation, and arthrodesis device is recorded since gravity generates torque, the mode being averaged, which is measured, by 3 times obtains arthrodesis dress
The torque offset △ Nm/P i.e. arthrodesis device generated 0 ° to 360 ° spatial position is set on the P of spatial position due to gravity
Or the torque offset △ Nm that resistance generates.The torque of actual measurement is cut the offset torque Nm- △ Nm of corresponding position by software,
New driving moment value is calculated, this process is that the torque of dynamometer corrects.
Joint motions weightless measurement control of the invention.Since subject's limbs itself have certain weight, for big
The moment load that generates of limbs such as leg weight it is often very big, muscle must these loads of customer service first could be in dynamometer control
System is lower to complete constant speed mechanical test, and joint injury or the weak subject of strength cannot then go on smoothly constant-speed force test, and
The load that limbs gravity generates can injure joint itself, have the risk for causing secondary damage.Therefore, the gravity for removing limbs makes
It is particularly important that limbs complete movement at the uniform velocity test training under conditions of weightlessness.Joint dynamometer joint test before, allow by
Examination person is in relaxation state, and meter active movement is generated according to speed and motion range the measurement record joint gravity of setting
Torque, the torque as joint power torque offset by computer software calculation processing, it is logical to be converted to driving signal
Analog-digital converter access servo-driver is crossed, to control servo motor starting, stopping or the switching of the direction of motion.Control process
The torque survey that middle actual test torque is generated with relaxation state lower limb body gravity is subtracted each other, and joint is made to be in weightless motion state, and
Realize the control of joint weightlessness.
Joint dynamometer isotonic exercise training mode of the invention.Isotonic exercise refers to when moving in range of motion
The consistent training method of tension resistance on each motor point.Isotonic exercise can provide safe exercise load for joint motions
Resistance is that the necessary means of real recovery function training can guarantee joint motions by setting suitable moment values offset
Middle resistance is not too big, to avoid articular muscle training secondary damage.Isotonic exercise is difficult to realize in real life,
This mode can only be completed under equipment control.Dynamometer completes the weightless measurement in joint first, and the tension value of setting is really
The offset offset torque of rotating torque, and offset is a small range offset (1 ± 5%), contraction of muscle drives limb
Body can generate torsion to torque sensor when moving, when the torque of joint drive reaches the torque resistance of offset (1 ± 2%) setting
When force value when range, dynamometer generates movement, and the speed of movement is the speed of setting.Joint moment is less than torque offset lower limit
When, dynamometer does not generate movement, and when joint moment is greater than the torque offset upper limit, dynamometer can accelerate the resistance for reducing movement
Power, make the resistance drop in joint as low as setting in the range of, thus realize the resistance of joint motions process be maintained at offset (1 ±
5%) istonics in the range of torque.
Joint dynamometer of the invention takes opening Design.It is equipped with UPS uninterruptible power supply, is guaranteed in the event of a power failure
It continues working.Dynamometer has idler wheel, Motorized lift device, fixed bracket etc. simultaneously, can according to need and is moved, is converted
The operations such as position fixation, are connect using the rotational connector of standard with arthrodesis device.Can according to the needs of use environment,
Matched combined is at a variety for the treatment of of joint disease systems.Dynamometer reads the location parameter of fixator by COM serial port connection type, attaches most importance to
Repetition measurement examination provides the reference by location of accurate quick.
The present invention has hand-held emergency button.When dynamometer is in abnormal operation, hand-held emergency button is pressed, is closed
The power supply relay for closing servo-driver cuts off the power supply of servo motor, directly stops the work of servo motor, servo motor electricity
Brake starting, emergency braking.
The present invention tests training feedback system.Constant speed muscle strength test training system needs to joint motions speed, acceleration, fortune
Drag loading constantly controls in dynamic direction, movement, it is therefore desirable to strictly monitor to the process of test training.Test training feedback system
System mainly includes the composition such as photographic device, video display, mobile display, wireless headset and hand-held emergency button, is such as schemed
Shown in 7, video display can carry out that peak force square is shown, peak value acting, movement velocity ratio, constantly video monitoring window, joint are flat
Equal curve shows that Isokinetic test training object is largely joint injury patient, and many patient motion dysfunctions are due to mind
Caused by through damage.Vision, the sound feedback that constant speed muscle strength test need to be generated by sound and image in this case are helped
Patient is helped to complete the test training of function.In addition Isokinetic test system needs subject positive can cooperate, and could obtain
Effective test data, peak force square peak torque, peak acting peak work etc..Therefore the control of test training feedback very must
Want, feedback test system provide computing test process have an effect every time generation maximum moment and do work value, as next time transport
Moving-target instruction, sound feedback are done the Target indication for surmounting previous test by earphone prompt subject, subject are prompted to need
Movement, can just effectively complete standard constant speed muscle strength test.
Visual Feedback Control is by one or more wireless video transmission video shooting devices, wireless video controller, control
The parts such as computer, multiwindow video show, mobile display form.By the way of wireless video transmission, mainly for matching
The test for closing the more positions of multi-joint needs, and the joint motions video of video camera acquisition is accessed by wireless video controller and calculated
Machine, computer software provide video monitoring window, subject are made to be able to observe that the motion conditions of oneself limbs.Computer video
Signal accesses wireless video controller by VGA or HDMI, is transmitted to vision signal by Wi-Fi transmission mode wifi
Multiple mobile displays can carry out the constantly test process feedback monitoring of multiposition, multi-angle.
The acoustic information of subject is transmitted to computer by wireless (blue tooth) headset by sound feedback control, or
Voice prompt will be recorded by software in advance, order sound, the acoustic informations such as induction is encouraged to lead to by receiving, and subject can basis
Auditory tone cues complete compulsory exercise.The computer that the sound that subject issues is transmitted by Mike, computer carry out speech recognition
Analysis processing, microphone can acquire subject and be made a sound, when volume reaches the threshold value or identification specific sound letter of setting
Number when, by control computer by analog-digital converter operate servo controller control servo motor do corresponding sports processing, stop
Joint motions are moved to opposite direction, to complete the control of acoustic control safety feedback.
Control computer can constantly record the torque data of subject's joint motions joint position in test process.According to
The data such as the zmp position of actual measurement, software carry out each action data to calculate the instant peak force square for obtaining each movement
Do work peak work for peak torque, peak, and peak force square, peak acting are shown on display screen, are the next fortune of subject
It is dynamic that targets threshold firmly is provided.
Computer constantly average computation is controlled, superposed average constantly is carried out to each joint motions data, obtains joint
Mean motion indicatrix be compared by the curve with the parameter of computer standard database, become with color and brightness
Change mode constantly shows the power output situation of articular muscle.
Movement velocity ratio shows that display subject motion is practically in the movement velocity (movement at the uniform velocity of setting in the process
Process) ratio in total joint motion process.As previously mentioned, joint motions it is practical include acceleration, constant speed, deceleration mistake
Journey, in addition movement velocity setting is excessively high, and the speed of setting may be not achieved in subject's joint motions, passes through movement velocity ratio point
Analysis can grasp the movement at the uniform velocity situation in practical joint, it is ensured that test data it is accurate and reliable.
As shown in figure 8, intelligence constant speed function of joint evaluation of the present invention, the present invention is the number based on subject's actual measurement
According in conjunction with the moving anatomy in joint and the fundamental mechanics test data in joint, joint is exported on movement position
Torque is corresponding with the driving muscle of joint motions and realizes function of joint automatic Evaluation.Traditional constant speed muscle strength test can only be given
The relation curve that joint basic mechanical data and torque and position, time correlation are established out, can only reflect joint and transport
Firmly situation in dynamic can not indicate it is that the variation of which muscle or bone causes joint strength to change, can not be directly right
It tests joint and carries out functional evaluation.
In order to make those skilled in the art of the present technique better understood when technical solution of the present invention, now it is with knee joint
Example, illustrates intelligent evaluation process of the invention.
(1) knee joint flexion/extension moves
When knee joint does flexion/extension movement, coordinated to complete under the domination of nervous system by extensor group and musculus flexor group.It is dynamic to stretch knee
The contraction for making mainly four muscle group of stock generates, and four muscle group of stock is mainly four flesh rectus of stock, quadriceps muscle of thigh inside, quadriceps muscle of thigh outside
Composition, when knee joint does flexion and extension, each piece of muscle can generate force production in the movement position of corresponding joint, to greatest extent
The strength of knee extension is provided, these positions are referred to as the functional location of muscle.Move 0 ° of the kneed joint of anatomical definition
Position is kneed anatomical position (when standing naturally, the location of joint), and knee joint function test is in function of joint
What range was tested, be the starting point of motion range since micro- 10 ° of starting point in the wrong, is that joint is transported to joint buckling to 90 ° of positions
The terminal of dynamic range.It is standard that constant speed muscle strength test regulation, which tests Joint mechanics data obtained in 10 ° to 90 ° motion range,
Test data carries out functional assessment with this data.It is learnt from exercise anatomy research, stretches knee when the generation of four contract muscular group of stock and move
During work, the inside of quadriceps muscle of thigh, exterior measuring, rectus, which will all generate, to be shunk, but joint institute during motion of knee joint
The percentage contribution for locating each muscle power output of different location is different, and every piece of muscle all has respective maximum collapse angular range, i.e. flesh
The envelop of function of meat.Between 55 ° to 65 ° of envelop of function of quadriceps muscle of thigh rectus, the envelop of function on the inside of quadriceps muscle of thigh is 30 ° and arrives
Between 40 °, on the outside of quadriceps muscle of thigh between 0 ° to 10 ° of envelop of function degree, calculated simultaneously by Aerodynamic data to these activity intervals
Compared with reference data and then complete intelligent switch joint functional evaluation.
(2) joint is averaged force diagram
There is the test numbers that contingency, function of joint evaluation use for knee joint single flexion/extension exercise test Mechanical Data
According to being that at least flexion/extension action data average value on same test position, average data corresponding joint position are established three times
Position M curve is that joint is averaged force diagram.Assessing data is on the basis of average mechanics data and curves, by muscle function
Concourse Division calculates, and system carries out the analytical judgment of function of joint using these data calculated results compared with reference data.
For kneed assessment, need to carry out average data curve segmentation calculating, calculate motion range be respectively 10 ° to 20 °,
30 ° to 40 °, 55 ° to 65 ° this three sections of range of motion.BW (bodyweight) is the weight of subject, and unit is Kg；Fp
For the torque F that joint generates on P position, algorithm application absolute value average computation method, Fw is being averaged on the outside of quadriceps muscle of thigh
Torque, Fz are the average torque of quadriceps muscle of thigh rectus, and Fn is the average torque on the inside of quadriceps muscle of thigh, and calculation method is,
(3) articular muscle reference value
Using constant speed muscle strength test equipment, researcher has done a large amount of mechanical test to each articular muscle of human body
Research.Influencing test data principal element includes weight, height, age, gender etc., while in different test speed ShiShimonoseki
It is also not identical to save dynamometry value.Most of research is tested with 60 °/s, 180 °/s joint motions angular speed, therefore generates phase
Answer the muscle strength reference value under movement velocity.By taking knee joint is tested as an example, 70 kilograms of weight, height 170cm, 25 years old, male exist
Under the movement of 60 °/s angular speed, reference value Fw=1Nm/kg；Fn=1.5Nm/Kg；Fz=2.0Nm/kg.About knee joint 60 °/
These reference datas of s are present in a variety of Research Literatures, we can quote these reference values as evaluation criteria value, user
The assessment reference data of oneself can be needed to establish according to oneself assessment, software provides reference value and calculates storing data processing function
Can, open assessment reference value is provided and chooses mode, the reference value needed can be selected to carry out according to the crowd of different test groups
Comparative evaluation.
(4) chart assessment mode
By taking knee joint is tested as an example, for the calculated result of test data, corresponding joint zone of action uses different face
Color is corresponding with the muscle of functional areas, the size that the colorimetric response of color is exerted oneself.Quadriceps muscle of thigh rectus actual measured value Fz and ginseng
The ratio of value is examined, corresponding to the coloration 0 to 100% of Fz (2.0Nm/kg) and muscle color.0 to 100% point is 4 sections.Coloration 0
To 30%；30 to 50%；50 to 80%；80 to 100% ratio sections.0 to 30% is myasthenia area, and subject cannot independently reach
It stands；30 to 50% be the area muscular strength Hen Ruo, and subject can independently stand walking；50 to 80% be the weaker area of muscular strength, subject
Can freely walk can jog, and do the movement of moderate strength；80 to 100% be muscular strength standard regions, and subject can carry out daily
Activity, the movement such as race and jump；It is the locomitivity of sportsman greater than the 100% strong area of area's muscular strength.
(5) range of motion automatic measurement
Range of motion is the motion range of articulations digitorum manus.Automatic measurement is tested by the dynamic movement of joint dynamometer band movable joint
Person, which is under passive movement state, completes test.First have to carry out the weightless measurement of motion limbs, joint dynamometer exists in joint
Under state of weightlessness, the starting point of joint motions and the neighbouring small range section (10 ° of ranges) of terminal is driven to do five times and move repeatedly, torque
Sensor can try measurement movement in when limbs reach moving end limbs limit pressure, due to being dissected between two limbs
The rotation that locations of structures limitation will limit dynamometer generates the torque of limitation joint motions, the pass when torque reaches the threshold value of setting
Section dynamometer can run back, while record the position data as produced by 360 ° of absolute position transducers, and five tests obtain
Stop position statistical average as joint motions beginning or end position, the alternate position spike of beginning and end is exactly to move
Range, the as mobility in joint.Threshold value is typically set at 10Nm, refers to that subject is able to bear and does not generate pain or joint change
Maximum moment when shape.The numerical value can be set in computer software, through the torque data constantly tested compared with the numerical value,
Controller can control motor and generate corresponding movement, stop or move to opposite direction.
(6) Muscle tensility measures
Mainly due to caused by control myoneural damage, joint is transported for the generation of muscle tone (Muscle tone, MT)
Dynamic process really cooperates in nerve control agonist and an tagonist and completes.Since the damage of nerve makes the energy for controlling muscle
Power imbalance especially makes that firmly side cannot be completed smoothly between agonist and an tagonist when joint motion direction changes
To change, this enters relaxation state and still remains retracted, and then produces muscle tone during joint motions.Measure flesh
Meat be based on test joint passively shrink when in regulation motion range the size of muscle work done realizes, be exactly calculating by
The integral of torque Fp caused by source location set P1 to exercise end P2,Joint dynamometer dynamometer control
Passive movement is done in joint processed, and so-called joint passive movement refers to that subject does not have an effect actively, and joint motions are by joint dynamometer
The power of movement is provided, is completed in the speed of setting and motion range by computer control servo-driver.Muscle tensility MT
Increase with movement velocity and increases, the muscle tone very little when joint remains static.It tests since 5 °/s angular speed,
It is tested within the scope of the functional activity in joint, such as P1=10 ° of range, P2=90 ° of knee joint flexion and extension.It is transported in measurement joint
Dynamic preceding weightless control of taking exercises first, measures under 5 °/s, 10 °/s, 15 °/s, 20 °/s, 25 °/s, 30 °/s test speed respectively
Muscle tone fights dynamometer and moves generated negative work, carrys out assay muscle tone situation.
(7) pain threshold identifies
Pain threshold identification is that subject carries out passive joint movement, dynamic force moment sensor during passive shrink
Torque signals constantly can be acquired, subject, which has, calls out or press emergency handle when pain generation, calculate meter processing microphone
The voice signal of input when volume reaches threshold value, generates the input terminal that level exports incoming analog-digital converter, by computer disposal
Order control motor servo driver is issued, operating is left the motor off or is moved to opposite direction.The torque measured at this time be by
Examination person feels threshold value torque when pain, what this process was automatically performed under test macro control.
(8) stability of joint measurement assessment
Function of joint evaluation, other than the size of strength and the size of motion range, the assessment of stability is particularly significant.
Meanwhile joint stability functional training is also the important content of joint exercise.It is steady that dynamometer design in joint is able to carry out joint
Observational measurement program and training mode.The method that stability of joint is completed in control is to measure two in the functional location of muscle respectively
The maximum moment of a opposite direction, test use isometric dynamometry mode, i.e. holding joint angles are constant, and F (flex) bends maximum, force
Square；F (ext) stretches maximum moment.Test request subject is maintained in functional location, and dynamometer at random applies joint limbs outer
Power, the joint position that limbs overcome the external force of dynamometer to be kept fixed keep the stabilization in joint.Dynamometer driving moment is 80%
F (flex) and 80%F (ext), Stability Assessment areThe wherein p ° of setting holding position for joint, p is actual bit
It sets, calculates the integral of time range t1 to t2 change in location, with the stability in the size evaluation joint of position integral variation.
(9) movement velocity topognosia is assessed
Joint is increased since 0 °/s angular speed using passively motion mode, movement starting velocity, and grade of increasing speed is
0.1 °/s, when subject perception is to when movement, movement velocity at this time is that the movement velocity in joint is felt.Topognosia is to set
Under fixed speed, usual 5 °/s.Subject can stop on the position of setting using hand held switch or microphone apparatus, do repeatedly
The joint angles position P1-P5 that 5 tests obtain indicates that the movement position in joint is felt with maximum position difference Pmax-pmin.
Above-described embodiment is only one of the preferred embodiment of the present invention, should not be taken to limit protection model of the invention
It encloses, as long as that in body design thought of the invention and mentally makes has no the change of essential meaning or polishing, is solved
The technical issues of it is still consistent with the present invention, should all be included within protection scope of the present invention.
Claims (10)
1. a kind of function of joint tests training system, it is characterised in that: including for measuring motion limbs during joint motions
In motion range on each moving position produced torque joint dynamometer, control the computer of joint dynamometer operation
Control system tests training feedback system, and for fixing tester's position and by tester's motion limbs and joint dynamometry
Meter connection is to guarantee that tester can complete the arthrodesis device of constant speed muscle strength test under prescribed form；
The joint dynamometer include servo motor (1), the first transmission belt (2), retarder (3), dynamic force moment sensor (4),
Angular transducer (5), joint dynamometer connector (6) and the second transmission belt (10), the servo motor (1) pass through described
Transmission belt (2) is connect with the retarder (3), and the retarder (3) connect with the dynamic force moment sensor (4), described dynamic
State torque sensor (4) is connect with the joint dynamometer connector (6), and the angular transducer (5) passes through the second transmission belt
(10) and 1 ﹕, 1 synchromesh gear is connect with the dynamic force moment sensor (4)；
The computer control system includes servo-driver (7), analog-digital converter (8) and computer (9), the computer
(9) by the analog-digital converter (8) respectively with the servo-driver (7), the angular transducer (5) and the dynamic force
Square sensor (4) connection, the servo-driver (7) connect with the servo motor (1)；
The test training feedback system includes video display (17), camera (19) and mobile display (30), described
Video display (17) is connect by wireless WIFI with the computer (9), the peak transmitted for real-time display computer
Torque, peak value acting, movement velocity ratio and joint averaged curve, the camera (19) pass through wireless video controller (32)
It is connect with the computer (9), for real-time collecting test person motion limbs joint sport video and by locomotory appendage collected
Body joint motions video information real-time Transmission to the computer (9), the mobile display (30) passes through wireless WIFI and institute
State computer (9) connection, the motion limbs joint sport video transmitted for computer (9) described in real-time display；
The arthrodesis device include fixed mechanism for fixing tester's position and for by tester's motion limbs with
Joint dynamometer is connected to guarantee that tester can complete the movement mechanism of constant speed muscle strength test, the movement under prescribed form
Mechanism includes matching with the joint dynamometer connector (6) and being connected with the joint dynamometer connector (6)
First connector (21), the L-type connector (22) being installed on first connector (21) and the first U-shaped fixation
Bracket (23)；The L-type connector (22) includes the horizon bar for connecting and being in a horizontal state with first connector (21)
(221) and vertically it is connected to the vertical bar (222) of horizon bar (221) free end, there are two axis for suit on the horizon bar (221)
It holds (223), the open end of described first fixed bracket (23) is installed on the horizon bar by two bearings (223)
(221) on, and the bottom end of described first fixed bracket (23) is fixed by bolts on test envelope or test chair, described vertical
The outside of bar (222) is equipped at least two for fixing the bandage (224) of tester's motion limbs；The fixed mechanism is including being in
The second of plate is fixed bracket (24), and the inside of described second fixed bracket (24) is equipped with for being mounted on test envelope or test chair
On hook, and the outside of second fixed bracket (24) is equipped at least two and is surveyed for fixing tester's limbs with fixed
The fixing belt (25) of examination person's position.
2. a kind of function of joint according to claim 1 tests training system, it is characterised in that: the joint dynamometer is also
Equipped with dynamometer shell (11), and it is the servo motor (1), first transmission belt (2), the retarder (3), described dynamic
State torque sensor (4), the angular transducer (5) and second transmission belt (10) are integrated in the dynamometer shell
(11) in.
3. a kind of function of joint according to claim 2 tests training system, it is characterised in that: the joint dynamometer is also
Equipped with mobile platform (13) and the lifting board (14) being installed on the mobile platform (13), dynamometer shell (11) peace
Loaded on the lifting board (14), the bottom of the mobile platform (13) is equipped with a pair of fixed bracket (15) and a pair of mobile rolling
It takes turns (16), a pair of fixed bracket (15) is located at the bottom both ends of the mobile platform (13), a pair of mobile rolling
Wheel (16) is installed on the bottom both ends of the mobile platform (13), and two shifting rollers (16) by telescopic rod respectively
Be located at the inside of the corresponding fixed bracket (15), a pair of fixed bracket (15) respectively with the mobile platform (13)
Be an integral structure, the lifting board (14) be electric up-down board, and its by the analog-digital converter (8) with it is described
Computer (9) connection.
4. a kind of function of joint according to claim 3 tests training system, it is characterised in that: the joint dynamometer is also
It include spare USP power supply (18), and the spare USP power supply (18) is in the mobile platform (13), it is described standby
It is connect respectively with the computer (9), the servo-driver (7) and the servo motor (1) with USP power supply (18).
5. a kind of function of joint according to claim 4 tests training system, it is characterised in that: computer control system
System further includes brake switch (12) and hand-held emergency button (31), and the brake switch (12) is located at the dynamometer shell (11)
Top, and connect with the computer (9) by the analog-digital converter (8), for the emergency cut-off under abnormality
The servo motor (1), the hand-held emergency button (31) is located at the tangible place of tester, and passes through the analog-digital converter
(8) it is connect with the computer (9), for servo motor (1) described in the emergency cut-off under abnormality.
6. a kind of function of joint according to claim 5 tests training system, it is characterised in that: the test training feedback
System further includes the earphone-microphone (20) wirelessly connecting with the computer (9), and the earphone-microphone (20) is worn
In tester head, so as to be interacted between tester and computer by medium of sound.
7. a kind of function of joint according to claim 6 tests training system, it is characterised in that: the retarder (3)
For 50 ﹕, 1 retarder, the revolving speed of the servo motor is 3000 revs/min, rotating torque 12Nm, power 1.5KW.
8. a kind of function of joint according to claim 7 tests training system, it is characterised in that: the movement mechanism also wraps
The second connector (27) and the third company for including universal interlocking bar (26) and being connected to universal interlocking bar (26) both ends
Connect device (28), second connector (27) connect with the joint dynamometer connector (6), the third connector (28) with
First connector (21) connection.
9. a kind of function of joint according to claim 8 tests training system, it is characterised in that: the movement mechanism also wraps
It includes cross laser locator (29), the free end of the horizon bar (221) is offered in horizontal embedding slot, the cross laser
Locator (29) is in the embedding slot.
10. a kind of function of joint according to claim 9 tests training system, it is characterised in that: the vertical bar (222)
Outside set there are two bandage (224), set that there are two fixing belt (25) on the outside of described second fixed bracket (24).
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| CN110353695A (en) * | 2019-07-19 | 2019-10-22 | 湖南工程学院 | A kind of wearable athletic rehabilitation guidance and monitor system and its method |
| CN110755084A (en) * | 2019-10-29 | 2020-02-07 | 南京茂森电子技术有限公司 | Motion function evaluation method and device based on active and passive staged actions |
| CN111939525A (en) * | 2020-09-01 | 2020-11-17 | 广州一康医疗设备实业有限公司 | Constant-speed muscle strength training system and control method thereof |
| CN112155517A (en) * | 2020-09-15 | 2021-01-01 | 上海体育学院 | Underwater and land dual-purpose shoulder joint functional proprioception measuring device |
| CN113100789A (en) * | 2021-04-16 | 2021-07-13 | 西北工业大学 | Real-time analysis system for stress on inner side and outer side of knee joint |
| CN114146364A (en) * | 2021-12-09 | 2022-03-08 | 山东泽普医疗科技有限公司 | Dynamic force feedback constant speed training device |
| CN114343649A (en) * | 2022-01-07 | 2022-04-15 | 中山大学附属第一医院 | Joint isometric contraction muscle force analysis method, equipment and computer readable storage medium |
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| CN110353695B (en) * | 2019-07-19 | 2022-06-14 | 湖南工程学院 | Wearable exercise rehabilitation guidance and monitoring system and method thereof |
| CN110755084A (en) * | 2019-10-29 | 2020-02-07 | 南京茂森电子技术有限公司 | Motion function evaluation method and device based on active and passive staged actions |
| CN110755084B (en) * | 2019-10-29 | 2023-06-23 | 南京茂森电子技术有限公司 | Motion function assessment method and device based on active-passive and staged actions |
| CN111939525A (en) * | 2020-09-01 | 2020-11-17 | 广州一康医疗设备实业有限公司 | Constant-speed muscle strength training system and control method thereof |
| CN112155517A (en) * | 2020-09-15 | 2021-01-01 | 上海体育学院 | Underwater and land dual-purpose shoulder joint functional proprioception measuring device |
| CN113100789A (en) * | 2021-04-16 | 2021-07-13 | 西北工业大学 | Real-time analysis system for stress on inner side and outer side of knee joint |
| CN113100789B (en) * | 2021-04-16 | 2022-10-21 | 西北工业大学 | Real-time analysis system for stress on inner side and outer side of knee joint |
| CN114146364A (en) * | 2021-12-09 | 2022-03-08 | 山东泽普医疗科技有限公司 | Dynamic force feedback constant speed training device |
| CN114343649A (en) * | 2022-01-07 | 2022-04-15 | 中山大学附属第一医院 | Joint isometric contraction muscle force analysis method, equipment and computer readable storage medium |
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