CN109459307B - Ankle-foot orthosis mechanical property measuring device and method capable of simulating weight loading - Google Patents
Ankle-foot orthosis mechanical property measuring device and method capable of simulating weight loading Download PDFInfo
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- 238000002474 experimental method Methods 0.000 claims description 15
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- 208000006011 Stroke Diseases 0.000 description 5
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- 206010019468 Hemiplegia Diseases 0.000 description 1
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- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
- A61F5/0111—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
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- G01N2203/0019—Compressive
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Abstract
The invention provides a device and a method for measuring mechanical properties of an ankle-foot orthosis capable of simulating weight loading, and belongs to the field of mechanical detection of the ankle-foot orthosis. The measuring device comprises a mechanical frame, a direct-connected torque transmitter, a gravity bearing, a single chip microcomputer, a transmitter, a torque sensor, a worm and gear reducer, a transmission coaxial device, a power supply, a motor driver, a servo motor, a planetary reducer and a flange which are arranged inside the mechanical frame, and a display screen, an adjustable pressure device and a pedal which are arranged outside the mechanical frame. The invention has the advantages of simple structural design, high detection speed, high reliability, high practicability and wide application prospect.
Description
Technical Field
The invention belongs to the field of mechanical detection of ankle-foot orthotics, and discloses a device and a method for measuring mechanical characteristics of an ankle-foot orthotics capable of simulating weight loading.
Background
Orthoses have long been used clinically as a means of orthopedic treatment. In recent years, orthotics are gradually applied to people in the treatment of cerebral apoplexy, paraplegia, hemiplegia, cerebral palsy and the like due to the continuous emergence of new manufacturing materials and the continuous improvement of manufacturing level. Through a proper ankle-foot orthosis, the ankle deformation can be prevented and corrected, partial missing functions can be assisted and compensated to a certain extent, foot drop is limited, the supratalar joint is stabilized, the varus and valgus of the foot is corrected, and the subtalar joint is stabilized.
The 2016 world health organization reports that the incidence of stroke is the first worldwide in China. In patients with a surviving cerebrovascular disease, about three-quarters of the patients lose labor capacity to varying degrees, with about 40% of the severely disabled. The damage of the function such as exercise caused by cerebrovascular disease requires long-term rehabilitation. The copenhagen study report indicates that only 10% of stroke patients eventually achieve functional walking. In the clinical practice of rehabilitation, the ankle-foot orthosis is widely applied to patients with cerebral apoplexy, has obvious clinical effect, and particularly effectively improves the pace and balance of the patients.
At present, the ankle-foot orthosis is manufactured and clinically applied only by clinical experience and extensive measurement and feeling of medical staff, and due to individual differences of the weight of a patient and the like, the requirement of the patient can be met only through long-time trial wearing, adjustment and correction before use, and the ankle-foot orthosis lacks quantifiable indexes in the test process. In order to improve the design accuracy and the practicability of the ankle-foot orthosis, reduce the manufacturing time and better and more efficiently serve patients, the mechanical characteristics of the ankle-foot orthosis are evaluated by utilizing a computer-controlled motor and a mechanical measurement system device, and the weight of a human body is simulated by applying a force sensor 6 in the process, so that the manufacturing time of the ankle-foot orthosis can be greatly saved, the labor is saved, the cost and the unnecessary expense of patients are reduced, and the like. The method has positive significance for effectively improving the efficiency of medical service and improving the medical service level.
Disclosure of Invention
Aiming at the technical defects of the mechanical property evaluation of the ankle-foot orthosis in the current medical industry, the invention aims to carry out the quantitative mechanical property evaluation of the ankle-foot orthosis, and the application of evaluating the human gait of a stroke patient in the later period can be carried out.
The technical scheme of the invention is as follows:
an ankle-foot orthosis mechanical property measuring device capable of simulating weight loading comprises a mechanical frame 1, a direct-connected torque transmitter 21, a gravity bearing 8, a single chip microcomputer 10, a transmitter 12, a torque sensor 13, a worm gear reducer 14, a transmission coaxial device 15, a power supply 16, a motor driver 17, a servo motor 18, a planetary reducer 19 and a flange 20, wherein the direct-connected torque transmitter 21, the gravity bearing 8, the single chip microcomputer 10, the transmitter 12, the torque sensor 13, the worm gear reducer 14, the display screen 2, an adjustable pressure device and a pedal 9 are arranged inside the mechanical frame 1;
the mechanical frame 1 is used for bearing the weight of the whole device and reducing the vibration of the device; the display screen 2 is arranged on the surface of the mechanical frame 1 and used for inputting the data of the plantarflexion and dorsiflexion angles and the number of times of activities and simultaneously displaying the data of torque and gravity during testing;
the power supply 16 supplies power to the whole device and is connected with the motor driver 17; the motor driver 17 is connected with the servo motor 18, the motor driver 17 is responsible for controlling the rotating speed and the torque of the servo motor 18, and the servo motor 18 provides the power and the movement rate of the ankle-foot orthosis; an output shaft of the servo motor 18 is connected with a planetary reducer 19, an output shaft of the planetary reducer 19 is connected with a worm gear reducer 14, the planetary reducer 19 and the worm gear reducer 14 are fixed through a flange 20, power of the servo motor 18 is sequentially transmitted to the planetary reducer 19 and the worm gear reducer 14, and the rotating speed of the servo motor 18 is sequentially reduced and torque is increased through the planetary reducer 19 and the worm gear reducer 14; the worm gear reducer 14 is connected with the torque sensor 13 through a transmission coaxial device 15; the tail end of the transmission coaxial device 15 extends to the mechanical frame 1 and is connected with the external pedal 9 of the mechanical frame 1 through the gravity bearing 8; the rotation of a worm wheel in the worm gear reducer 14 drives the transmission coaxial device 15 to rotate, and then the running of the pedal 9 is driven by the gravity bearing 8; the torque sensor 13 is sequentially connected with the direct-connection type torque transmitter 21 and the single chip microcomputer 10, and the torque sensor 13 is responsible for detecting torque data transmitted to the ankle-foot orthosis by the servo motor 18 and transmitting the torque data to the single chip microcomputer 10;
the adjustable pressure device is used for simulating weight, is fixed at the upper end of the mechanical frame 1 through a connecting plate, and comprises a screw rod lifter, an applied force sensor 6 and a fixed pressure plate 7; the screw rod lifter comprises a protective cylinder 3, a hand wheel 4, a screw rod 5 and a box body; the lower surface of the connecting plate is fixed with a box body, and a worm wheel and a worm are arranged in the box body; the worm is coaxially connected with a hand wheel 4 outside the box body, the hand wheel 4 can drive the worm to rotate in the same direction, the worm is meshed with the worm wheel, so that the worm can drive the worm wheel to rotate by rotation of the worm, and the internal thread of the worm wheel is matched with the screw rod 5 to drive the screw rod 5 to ascend or descend; the lower end of the screw rod 5 is sequentially fixed with an applied force sensor 6 and a fixed pressure plate 7, the fixed pressure plate 7 is positioned above the pedal 9 and is matched with the pedal 9 to complete the simulation of the ankle-foot orthosis on gravity; the force application sensor 6 is connected with a transmitter 12 in the mechanical frame 1 and is responsible for detecting gravity applied to the ankle-foot orthosis, and transmitting gravity data to the single chip microcomputer 10 through the transmitter 12 to realize transmission of force application signals; the upper end of the screw rod 5 penetrates through the connecting plate and is protected by the protection cylinder 3 on the upper surface of the connecting plate.
The fixed pressure plate 7 is of a cover body structure and can be matched with the pedal 9 to prevent the ankle-foot orthosis from falling.
A bearing is additionally arranged between the worm in the box body and the hand wheel 4, so that the power transmission of the hand wheel 4 is facilitated; a retainer ring is sleeved outside the bearing to ensure axial limit when the worm rotates; the guide sleeve is sleeved outside the screw rod 5 in a clearance mode, and coaxiality of the screw rod 5 and the worm wheel is guaranteed.
The single chip microcomputer 10 can convert the electric signal data transmitted by the transmitter 12 and the direct-connected torque transmitter 21 into digital signals through A/D conversion, and then the pressure value is displayed on the display screen 2.
The single chip microcomputer 10 is provided with a USB data output port 11, and the single chip microcomputer 10 realizes data transmission with a computer through a USB data line.
The speed ratio of the planetary reducer 19 to the worm gear reducer 14 is 10: 1.
a method for measuring mechanical properties of an ankle-foot orthosis capable of simulating weight loading comprises the following steps:
the ankle-foot orthosis is worn outside the experimental substitute leg and is jointly placed on the pedal 9, the experimental substitute leg and the ankle-foot orthosis are bound and fixed, the experimental ankle-foot orthosis is fixed with the pedal 9, and the ankle-foot orthosis is prevented from shifting in the experimental process.
And (II) the ankle-foot orthosis is adjusted to be under the fixed pressure plate 7, the hand wheel 4 is rotated, the screw rod 5 drives the fixed pressure plate 7 to descend, the ankle-foot orthosis is fixed on the inner edge of the fixed pressure plate 7, and the ankle-foot orthosis is prevented from falling in the experiment.
And (III) turning on the power supply 16, the current applied force size, namely the simulated weight size, the torque data and the angle data can be observed on the display screen 2. The hand wheel 4 was adjusted to change the simulated body weight to the value required for the experiment and the observed data was in newton N.
And (IV) inputting the plantar flexion activity angle, the dorsiflexion activity angle and the activity times specified by the experiment on the display screen 2, and clicking the operation to start the operation of the device. The motor driver 17 drives the servo motor 18 to start operating, and the rotation speed is reduced by the planetary reducer 19 and the worm gear reducer 14, thereby increasing the torque. The gravity bearing 8 is driven to operate through the transmission coaxial device 15, so that the pedal 9 works, and the ankle-foot orthosis is driven to rotate along with the pedal 9. The device automatically stops running after finishing the specified movement times, and the stop or pause of the experiment is controlled by the display screen 2 when abnormality occurs in the process.
In the operation process of the device, the force applying sensor 6 is used for detecting the downward force applied by the adjustable pressure device, the detected pressure signal is converted into a voltage signal of 1-5V through the transmitter 12, and then the transmitted voltage signal is converted into a digital signal through A/D conversion in the singlechip 10, so that the force applying value is displayed on the display screen 2. The torque signal transmitted by the transmission coaxial device 15 is detected by the torque sensor 13, the torque signal is converted into a voltage signal of 1-5V by the direct-connected torque transmitter 21, the transmitted torque signal is converted into a digital signal by the singlechip 10 through A/D conversion, and different torque values are displayed on the display screen 2.
The invention has the beneficial effects that: the invention has the advantages of simple structural design, high detection speed, high reliability, high practicability and wide application prospect. The device can be used for detecting the rigidity of the ankle-foot orthosis through the measurement of torque and angle in an experiment, is beneficial to pertinently designing and manufacturing the ankle-foot orthosis under different patient conditions in clinic, reduces the repeated detection and manufacturing and modifying time, evaluates the mechanical characteristics of the ankle-foot orthosis by utilizing the motor controlled by the computer and the mechanical measurement system device, has high detection speed, simulates the body weight of a human body in the process, can find the problem of the ankle-foot orthosis in time and modify the problem in time in the detection process, can save the manufacturing time of the ankle-foot orthosis to a greater extent and liberate manpower, and reduces the cost and the unnecessary expense of patients.
Drawings
Fig. 1 is an external structural view of the present invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
In the figure: 1 a machine frame; 2 displaying a screen; 3, a protective cylinder; 4, a hand wheel; 5, a screw rod; 6 applying a force sensor; 7 fixing a pressure plate; 8 a gravity bearing; 9 a pedal; 10 single chip microcomputer; 11 a USB data output port; 12, a transmitter; 13 a torque sensor; 14 worm gear reducer; 15 driving a coaxial device; 16 power supply; 17 a motor driver; 18 servo motor; 19 a planetary reducer; 20, flanges; 21 direct-connected torque transmitter.
Detailed Description
The technical solution of the present invention will be further described with reference to the following specific embodiments and accompanying drawings.
An ankle-foot orthosis mechanical property measuring device capable of simulating weight loading is characterized by comprising a mechanical frame 1, a direct-connected torque transmitter 21, a gravity bearing 8, a single chip microcomputer 10, a transmitter 12, a torque sensor 13, a worm gear reducer 14, a transmission coaxial device 15, a power supply 16, a motor driver 17, a servo motor 18, a planetary reducer 19 and a flange 20, wherein the direct-connected torque transmitter 21, the gravity bearing 8, the single chip microcomputer 10, the transmitter 12, the torque sensor 13, the worm gear reducer 14, the display screen 2, an adjustable pressure device and a pedal 9 are arranged inside the mechanical frame 1;
the mechanical frame 1 is used for bearing the weight of the whole device and reducing the vibration of the device; the display screen 2 is arranged on the surface of the mechanical frame 1 and used for inputting the data of the plantarflexion and dorsiflexion angles and the number of times of activities and simultaneously displaying the data of torque and gravity during testing;
the power supply 16 supplies power to the whole device and is connected with the motor driver 17; the motor driver 17 is connected with the servo motor 18, the motor driver 17 is responsible for controlling the rotating speed and the torque of the servo motor 18, and the servo motor 18 provides the power and the movement rate of the ankle-foot orthosis; an output shaft of the servo motor 18 is connected with a planetary reducer 19, an output shaft of the planetary reducer 19 is connected with a worm gear reducer 14, the planetary reducer 19 and the worm gear reducer 14 are fixed through a flange 20, power of the servo motor 18 is sequentially transmitted to the planetary reducer 19 and the worm gear reducer 14, and the rotating speed of the servo motor 18 is sequentially reduced and torque is increased through the planetary reducer 19 and the worm gear reducer 14; the worm gear reducer 14 is connected with the torque sensor 13 through a transmission coaxial device 15; the tail end of the transmission coaxial device 15 extends to the mechanical frame 1 and is connected with the external pedal 9 of the mechanical frame 1 through the gravity bearing 8; the rotation of a worm wheel in the worm gear reducer 14 drives the transmission coaxial device 15 to rotate, and then the running of the pedal 9 is driven by the gravity bearing 8; the torque sensor 13 is sequentially connected with the direct-connection type torque transmitter 21 and the single chip microcomputer 10, and the torque sensor 13 is responsible for detecting torque data transmitted to the ankle-foot orthosis by the servo motor 18 and transmitting the torque data to the single chip microcomputer 10;
the adjustable pressure device is used for simulating weight, is fixed at the upper end of the mechanical frame 1 through a connecting plate, and comprises a screw rod lifter, an applied force sensor 6 and a fixed pressure plate 7; the screw rod lifter comprises a protective cylinder 3, a hand wheel 4, a screw rod 5 and a box body; the lower surface of the connecting plate is fixed with a box body, and a worm wheel and a worm are arranged in the box body; the worm is coaxially connected with a hand wheel 4 outside the box body, the hand wheel 4 can drive the worm to rotate in the same direction, the worm is meshed with the worm wheel, so that the worm can drive the worm wheel to rotate by rotation of the worm, and the internal thread of the worm wheel is matched with the screw rod 5 to drive the screw rod 5 to ascend or descend; the lower end of the screw rod 5 is sequentially fixed with an applied force sensor 6 and a fixed pressure plate 7, the fixed pressure plate 7 is positioned above the pedal 9 and is matched with the pedal 9 to complete the simulation of the ankle-foot orthosis on gravity; the force application sensor 6 is connected with a transmitter 12 in the mechanical frame 1 and is responsible for detecting gravity applied to the ankle-foot orthosis, and transmitting gravity data to the single chip microcomputer 10 through the transmitter 12 to realize transmission of force application signals; the upper end of the screw rod 5 penetrates through the connecting plate and is protected by the protection cylinder 3 on the upper surface of the connecting plate.
The fixed pressure plate 7 is of a cover body structure and can be matched with the pedal 9 to prevent the ankle-foot orthosis from falling.
A bearing is additionally arranged between the worm in the box body and the hand wheel 4, so that the power transmission of the hand wheel 4 is facilitated; a retainer ring is sleeved outside the bearing to ensure axial limit when the worm rotates; the guide sleeve is sleeved outside the screw rod 5 in a clearance mode, and coaxiality of the screw rod 5 and the worm wheel is guaranteed.
The single chip microcomputer 10 can convert the electric signal data transmitted by the transmitter 12 and the direct-connected torque transmitter 21 into digital signals through A/D conversion, and then the pressure value is displayed on the display screen 2.
The single chip microcomputer 10 is provided with a USB data output port 11, and the single chip microcomputer 10 realizes data transmission with a computer through a USB data line.
The speed ratio of the planetary reducer 19 to the worm gear reducer 14 is 10: 1.
a method for measuring mechanical properties of an ankle-foot orthosis capable of simulating weight loading comprises the following steps:
the ankle-foot orthosis is worn outside the experimental substitute leg and is jointly placed on the pedal 9, the experimental substitute leg and the ankle-foot orthosis are bound and fixed, the experimental ankle-foot orthosis is fixed with the pedal 9, and the ankle-foot orthosis is prevented from shifting in the experimental process.
And (II) the ankle-foot orthosis is adjusted to be under the fixed pressure plate 7, the hand wheel 4 is rotated, the screw rod 5 drives the fixed pressure plate 7 to descend, the ankle-foot orthosis is fixed on the inner edge of the fixed pressure plate 7, and the ankle-foot orthosis is prevented from falling in the experiment.
And (III) turning on the power supply 16, the current applied force size, namely the simulated weight size, the torque data and the angle data can be observed on the display screen 2. The hand wheel 4 was adjusted to change the simulated body weight to the value required for the experiment and the observed data was in newton N.
And (IV) inputting the plantar flexion activity angle, the dorsiflexion activity angle and the activity times specified by the experiment on the display screen 2, and clicking the operation to start the operation of the device. The motor driver 17 drives the servo motor 18 to start operating, and the rotation speed is reduced by the planetary reducer 19 and the worm gear reducer 14, thereby increasing the torque. The gravity bearing 8 is driven to operate through the transmission coaxial device 15, so that the pedal 9 works, and the ankle-foot orthosis is driven to rotate along with the pedal 9. The device automatically stops running after finishing the specified movement times, and the stop or pause of the experiment is controlled by the display screen 2 when abnormality occurs in the process.
In the operation process of the device, the force applying sensor 6 is used for detecting the downward force applied by the adjustable pressure device, the detected pressure signal is converted into a voltage signal of 1-5V through the transmitter 12, and then the transmitted voltage signal is converted into a digital signal through A/D conversion in the singlechip 10, so that the force applying value is displayed on the display screen 2. The torque signal transmitted by the transmission coaxial device 15 is detected by the torque sensor 13, the torque signal is converted into a voltage signal of 1-5V by the direct-connected torque transmitter 21, the transmitted torque signal is converted into a digital signal by the singlechip 10 through A/D conversion, and different torque values are displayed on the display screen 2.
Before the experiment, the USB flash disk for recording data is inserted into the USB data output port 11. Data in the experimental process is stored in the USB flash disk through the USB data output port 11, and the output data is an original signal.
During the operation of the device, the force values, i.e. the simulated weight values, the torque data, the angle data and the currently completed operation times, at different times can be observed on the display screen 2. Meanwhile, the force data is displayed on the left side of the screen in an image form, so that the periodic change of the force can be observed conveniently in an experiment, and whether the data is abnormal or not can be observed conveniently.
Claims (10)
1. An ankle-foot orthosis mechanical property measuring device capable of simulating weight loading is characterized by comprising a mechanical frame (1), a direct-connected torque transmitter (21), a gravity bearing (8), a single chip microcomputer (10), a transmitter (12), a torque sensor (13), a worm gear reducer (14), a transmission coaxial device (15), a power supply (16), a motor driver (17), a servo motor (18), a planetary reducer (19) and a flange (20) which are arranged inside the mechanical frame (1), a display screen (2), an adjustable pressure device and a pedal (9) which are arranged outside the mechanical frame (1);
the mechanical frame (1) is used for bearing the weight of the whole device and reducing the vibration of the device; the display screen (2) is arranged on the surface of the mechanical frame (1) and is used for inputting data of the plantarflexion and dorsiflexion angles and the number of times of activities and simultaneously displaying data of torque and gravity during testing;
the power supply (16) supplies power to the whole device and is connected with the motor driver (17); the motor driver (17) is connected with the servo motor (18), the motor driver (17) is responsible for controlling the rotating speed and the torque of the servo motor (18), and the servo motor (18) provides the power and the movement rate of the ankle-foot orthosis; an output shaft of the servo motor (18) is connected with the planetary reducer (19), an output shaft of the planetary reducer (19) is connected with the worm gear reducer (14), the output shaft and the worm gear reducer are fixed through a flange (20), power of the servo motor (18) is sequentially transmitted to the planetary reducer (19) and the worm gear reducer (14), and the rotating speed of the servo motor (18) is sequentially reduced and torque is increased through the planetary reducer (19) and the worm gear reducer (14); the worm gear reducer (14) is connected with the torque sensor (13) through a transmission coaxial device (15); the tail end of the transmission coaxial device (15) extends to the mechanical frame (1) and is connected with an external pedal (9) of the mechanical frame (1) through a gravity bearing (8); the rotation of a worm wheel in the worm gear reducer (14) drives the transmission coaxial device (15) to rotate, and then the running of the pedal (9) is driven by the gravity bearing (8); the torque sensor (13) is sequentially connected with the direct-connection type torque transmitter (21) and the single chip microcomputer (10), and the torque sensor (13) is responsible for detecting torque data transmitted to the ankle-foot orthosis by the servo motor (18) and transmitting the torque data to the single chip microcomputer (10);
the adjustable pressure device is used for simulating weight, is fixed at the upper end of the mechanical frame (1) through a connecting plate, and comprises a screw rod lifter, a force application sensor (6) and a fixed pressing disc (7); the screw rod lifter comprises a protective cylinder (3), a hand wheel (4), a screw rod (5) and a box body; the lower surface of the connecting plate is fixed with a box body, and a worm wheel and a worm are arranged in the box body; the worm is coaxially connected with a hand wheel (4) outside the box body, the hand wheel (4) can drive the worm to rotate in the same direction, the worm is meshed with a worm wheel, so that the rotation of the worm can drive the worm wheel to rotate, and the internal thread of the worm wheel is matched with the screw rod (5) to drive the screw rod (5) to ascend or descend; the lower end of the screw rod (5) is sequentially fixed with an applied force sensor (6) and a fixed pressure plate (7), the fixed pressure plate (7) is positioned above the pedal (9) and is matched with the pedal (9) to complete the simulation of the ankle-foot orthosis on gravity; the force application sensor (6) is connected with a transmitter (12) in the mechanical frame (1) and is responsible for detecting gravity applied to the ankle-foot orthosis and transmitting gravity data to the single chip microcomputer (10) through the transmitter (12) to realize transmission of force application signals; the upper end of the screw rod (5) penetrates through the connecting plate and is protected by the protecting cylinder (3) on the upper surface of the connecting plate.
2. The device for measuring the mechanical properties of an ankle-foot orthosis capable of simulating weight loading according to claim 1, wherein the fixed pressure plate (7) is of a cover structure capable of cooperating with the pedal (9) to prevent the ankle-foot orthosis from falling over.
3. The device for measuring the mechanical properties of the ankle-foot orthosis capable of simulating weight loading according to claim 1 or 2, wherein a bearing is additionally arranged between the worm inside the box body and the hand wheel (4) so as to facilitate the power transmission of the hand wheel (4); a retainer ring is sleeved outside the bearing to ensure axial limit when the worm rotates; the guide sleeve is sleeved outside the screw rod (5) in a clearance mode, and coaxiality of the screw rod (5) and the worm wheel is guaranteed.
4. The ankle-foot orthosis mechanical property measuring device capable of simulating weight loading according to claim 1 or 2, characterized in that the single chip microcomputer (10) can convert the electric signal data transmitted by the transducer (12) and the direct-connected torque transducer (21) into digital signals through A/D conversion, and then display the pressure values on the display screen (2).
5. The ankle-foot orthosis mechanical property measuring device capable of simulating weight loading according to claim 3, characterized in that the single chip microcomputer (10) can convert the electric signal data transmitted by the transducer (12) and the direct-connected torque transducer (21) into digital signals through A/D conversion, and then display the pressure values on the display screen (2).
6. The device for measuring the mechanical properties of the ankle-foot orthosis capable of simulating weight loading according to claim 1, 2 or 5, wherein the single chip microcomputer (10) is provided with a USB data output port (11), and the single chip microcomputer (10) realizes data transmission with a computer through a USB data line.
7. The device for measuring the mechanical properties of the ankle-foot orthosis capable of simulating weight loading according to claim 3, wherein the single chip microcomputer (10) is provided with a USB data output port (11), and the single chip microcomputer (10) realizes data transmission with a computer through a USB data line.
8. The device for measuring the mechanical properties of the ankle-foot orthosis capable of simulating weight loading according to claim 4, wherein the single chip microcomputer (10) is provided with a USB data output port (11), and the single chip microcomputer (10) realizes data transmission with a computer through a USB data line.
9. An ankle-foot orthosis mechanical property measuring device capable of simulating weight loading according to claim 1, 2, 5, 7 or 8, characterized in that the speed ratio of the planetary reducer (19) to the worm gear reducer (14) is 10: 1.
10. a measurement method using the apparatus for measuring mechanical properties of an ankle-foot orthosis capable of simulating weight loading according to claim 1, 2, 5, 7 or 8, characterized by the steps of:
the ankle-foot orthosis is worn outside the experimental substitute leg and is commonly placed on the pedal (9), the experimental substitute leg and the ankle-foot orthosis are bound and fixed, the experimental ankle-foot orthosis is fixed with the pedal (9), and the ankle-foot orthosis is prevented from shifting in the experimental process;
secondly, the ankle-foot orthosis is adjusted to be under the fixed pressure plate (7), the hand wheel (4) is rotated, the screw rod (5) drives the fixed pressure plate (7) to descend, and the ankle-foot orthosis is fixed on the inner edge of the fixed pressure plate (7) to prevent the ankle-foot orthosis from falling in an experiment;
thirdly, turning on the power supply (16), and observing the current applied force, namely the simulated weight, the torque data and the angle data on the display screen (2); adjusting a hand wheel (4) to change the simulated body weight to a value required by an experiment, wherein the observed data takes Newton N as a unit;
inputting the activity angles of plantarflexion and dorsiflexion and the activity times specified by the experiment on the display screen (2), and clicking the device to start operation after operation; the motor driver (17) drives the servo motor (18) to start working, and the rotating speed is reduced through the planetary reducer (19) and the worm and gear reducer (14) to improve the torque; the gravity bearing (8) is driven to operate by the transmission coaxial device (15), so that the pedal (9) works to drive the ankle-foot orthosis to rotate along with the pedal (9); the device automatically stops running after the specified movement times are finished, and the stopping or pausing of the experiment is controlled through the display screen (2) when abnormality occurs in the process;
in the operation process of the device, the force application sensor (6) is responsible for detecting the downward force applied by the adjustable pressure device, the detected pressure signal is converted into a voltage signal of 1-5V through the transmitter (12), and then the transmitted voltage signal is converted into a digital signal through A/D conversion in the singlechip (10), so that the force application value is displayed on the display screen (2); the torque signal transmitted by the transmission coaxial device (15) is detected by a torque sensor (13), the torque signal is converted into a voltage signal of 1-5V by a direct-connected torque transmitter (21), the transmitted torque signal is converted into a digital signal by an A/D (analog/digital) converter in a single chip microcomputer (10), and different torque values are displayed on a display screen (2).
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