CN109746940A - A kind of device for testing single-DOF-joint torque - Google Patents
A kind of device for testing single-DOF-joint torque Download PDFInfo
- Publication number
- CN109746940A CN109746940A CN201910030271.4A CN201910030271A CN109746940A CN 109746940 A CN109746940 A CN 109746940A CN 201910030271 A CN201910030271 A CN 201910030271A CN 109746940 A CN109746940 A CN 109746940A
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- bar
- thigh
- joint
- shank
- fixed ring
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Abstract
The invention discloses a kind of device for testing single-DOF-joint torque, the device of the test single-DOF-joint torque is suitable for the kneed torque testing experiment of human leg, it can also be used in the torque test of arm elbow joint；Device is made of air bag, thigh fixed ring, shank fixed ring, thigh bar, shank bar, connector, torque sensor, force snesor, thigh fixed belt, small leg restraint webbing and connector；The thigh bar is fixed, hinged by connector with shank bar, and mechanical position limitation is arranged in junction；Shank bar can rotate in a certain range.Wearing personnel dress apparatus of the present invention after the air bag for wearing specified air pressure.Wearing personnel knee joint torque is tested by torque sensor；Using force sensor measuring shank to the active force of ankle-joint fixed ring, knee joint endoprosthesis torque is obtained by calculating.The present invention provides experimental rig to test the torsional moment of single-DOF-joint.
Description
Technical field
The present invention relates to a kind of devices for testing single-DOF-joint torque, are related to ectoskeleton field.
Background technique
Ectoskeleton is a kind of robot for being through human external, it is possible to provide protection, support, power-assisted and movement miscellaneous function,
It is very active robot research branch.Due to the great function that ectoskeleton power assisting device plays in each field, so that it is sent out
Exhibition prospect is very wide.Vacuum relief clothes can be efficiently reduced directly contacts brought damage due to wearing personnel with ectoskeleton
Wound, but the effect of the overbottom pressure due to caused by vacuum relief clothes (the inside and outside pressure difference of clothes), the protective garment when dressing personnel activity
Inevitably generate sizable torque, the size of torque directly affect wearing personnel can complete to operate consumed physical strength and
Life-support systems have an impact.The torque is related to design structure and processing technology level, needs to test it.Cause
This, urgent need develops the test macro of torque factor to test the mechanical property in protective garment joint, is used for protective garment joint
Design, inspection and product evaluation.Based on this, the present invention provides a kind of devices for testing single-DOF-joint torque.By solid
It is scheduled on power/torque sensor on the inside of knee joint fixed ring and ankle-joint fixed ring and collects wearing personnel motion information, to reach
Detect the function of human body single-DOF-joint torque.
Summary of the invention
The present invention in view of the deficiencies of the prior art, devises a kind of device for testing single-DOF-joint torque, institute
The device for the test single-DOF-joint torque stated is by thigh fixed ring (001), air bag (002), ankle-joint fixed ring
(003), thigh bar fixing belt (004), shank bar fixing belt (005), connector (006), torque sensor (007), mechanical limit
Position (008), thigh bar (009), shank bar (010), force snesor (011).
Technical solution of the present invention be it is a kind of test single-DOF-joint torque device, the device include: thigh fixed ring,
Thigh bar, shank bar, force snesor, torque sensor, air bag, knee joint fixed ring, ankle-joint fixed ring；The thigh bar
(009) inside of upper end and thigh fixed ring (001) is hinged, and the thigh fixed ring and thigh bar hinged place are straight line knot
Structure, remaining place are ring structure；It is cut with scissors by the upper end of connector (006) and shank bar (010) lower end of thigh bar (009)
It connects, shank bar (010) can be around interface point fixed-axis rotation；The force snesor is set at the hinge joint of thigh bar and shank bar
Inside, the torque sensor are set to the outside at the hinge joint of thigh bar and shank bar；The thigh bar (009) and shank
Bar junction is provided with mechanical limit structure (008), prevents shank bar from excessively rotating；Knee joint fixed ring (005) setting
In shank bar top close to kneed position, the ankle-joint fixed ring (003) is set to shank bar lower part close to ankle-joint
Position, the knee joint fixed ring (005), the outside of ankle-joint fixed ring (003) and shank bar are hinged；The power/torque passes
Sensor is set to；The air bag is hollow tubular bladder, while being set to thigh fixed ring, thigh bar, shank bar, knee joint
The inside of fixed ring, ankle-joint fixed ring.
Further, the connector (006) is stair-stepping strip laminated structure, including higher level's bench, ladder connect
Section, junior's bench, higher level's bench are connect with the top of shank bar, make junior's bench of connector and the top end of shank bar
End forms hanging interlayer；The thigh bar lower part is set in the hanging interlayer, and thigh bar lower end and connector
The ladder section stage contact, the shank bar upper end, connector junior bench end and thigh bar are hinged；The mechanical limit
Bit architecture (008) is a part of thigh bar bottom end；Thigh bar end is originally used for one end of rectangular laminated structure, to the party
The angle that shape structure corresponds to shank bending side carries out round corner treatment and forms mechanical limit structure；When shank bending at rounded corner
It does not contact realization with the ladder linkage section of connector to be freely rotated, the position place of rounded corner and the ladder of connector when shank stretches
Linkage section contact, blocks thigh bar and continues to rotate to limit shank bar.
Further, the thigh bar (009) is the strip that a strip rod piece or two are arranged in parallel in thigh two sides
Rod piece；The shank bar is the strip rod piece that a strip rod piece or two are arranged in parallel in shank two sides.
Further, thigh bar fixing belt is provided on the thigh bar, thigh bar fixing belt is provided with the interior of thigh bar
Side.
Further, hole is set on the thigh bar and shank bar, for adjusting thigh fixed ring, knee joint is fixed
The fixation position of ring, ankle-joint fixed ring thigh bar fixing belt.
Further, the thigh fixed ring (001), knee joint fixed ring (005), ankle-joint fixed ring (003), company
One of rigid plastics, hard alloy or a variety of can be used by connecing device (006) material.
Further, a kind of thigh bar fixing belt (004) of device for testing single-DOF-joint torque, shank bar
Fixing belt (005) can be one of elastic band, velcro or buckle or a variety of.
Its basic principle is as follows:
Principle 1: according to experiment needs, select air pressure in suitable protective garment, by air bag (002) interior Pressure Inflation to specify
Pressure, wearing personnel dress.
Principle 2: according to wearing personnel's individual instances, thigh fixed ring (001) and knee joint fixed ring (003) are adjusted respectively
With the relative position of thigh bar (009) and shank bar (010), by using thigh bar fixing belt (004) and shank bar fixing belt
(005) fixing wearing personnel limbs fix thigh bar (009) with testing stand.
Principle 3: when test, wearing personnel's thigh is fixed, and swings shank as requested, by being mounted on connector
(006) torque at torque sensor (007) real-time detection wearing personnel's knee joint on the outside of.
Principle 4: when test, wearing personnel's thigh is fixed, and swings shank as requested, is consolidated by being mounted on knee joint
Force snesor (011) real-time detection wearing personnel's ankle on the inside of ring is determined to the active force of ankle-joint fixed ring (003), passes through power
Square calculation formula obtains the torque at knee joint.
Principle 5: the junction of thigh bar (009) and shank bar (010) devises mechanical position limitation (008), makes shank bar
(010) going to spacing place can not continue to rotate.Under the premise of meeting wearing personnel's motion requirement, ensure that wearing human life pacifies
Entirely.
The invention has the following advantages:
1. it is of the present invention it is a kind of test single-DOF-joint torque device thigh bar (009) upper end design with
One round hole closes a kind of test single-degree-of-freedom of the present invention convenient for the installation of the different location of thigh fixed ring (001)
The device for saving torque is suitable for the wearing personnel use of different thigh length.
2. a kind of device for testing single-DOF-joint torque of the present invention can be direct by torque sensor (007)
The torque at knee joint is measured, can also pass through Calculating Torque during Rotary formula by the active force of measurement shank ankle and calculate acquisition
Torque at knee joint.
3. a kind of device for testing single-DOF-joint torque of the present invention is suitable for various single-DOF-joints
In torque test, for example, human body ancon joint torque measurement.
4. it is of the present invention it is a kind of test single-DOF-joint torque device shank bar (010) lower end design with
One round hole makes a kind of test single-degree-of-freedom of the present invention convenient for the installation of the different location of ankle-joint fixed ring (003)
The wearing personnel that the device of joint moment is suitable for different lower-leg lengths use.
5. the thigh bar (009) and shank bar of a kind of device for testing single-DOF-joint torque of the present invention
(010) hingedly with connector (006), the function of simulation wearing personnel simple joint freedom degree rotation is realized.
6. a kind of device for testing single-DOF-joint torque of the present invention can be according to wearing personnel's limbs strength
Change and bending tendency and be bent, pass through be fixed on the outside of connector (006) torque sensor (007) real-time detection wearing
Personnel protection takes the torque at knee joint, realizes the detection of single-DOF-joint torque.
7. a kind of device for testing single-DOF-joint torque of the present invention passes through the power that is fixed on the inside of ankle-joint
Sensor (011) detects the active force at wearing personnel shank ankle to ankle-joint fixed ring (003) of the invention, measurement wearing
The lower-leg length of personnel calculates the torque for obtaining single-DOF-joint by Calculating Torque during Rotary formula.
8. the thigh bar (009) and shank bar of a kind of device for testing single-DOF-joint torque of the present invention
(010) junction devises mechanical position limitation (008), and so that shank bar (010) is gone to spacing place can not continue to rotate.Meet wearing
Under the premise of personnel's motion requirement, wearing human life's safety has been ensured.
Detailed description of the invention
Fig. 1 is a kind of apparatus structure schematic diagram for testing single-DOF-joint torque provided by the invention.
Fig. 2 is the motion detection provided by the invention based on ectoskeleton single-DOF-joint and the connection of power assisting device thigh bar
Locate details exploded view.
Fig. 3 is a kind of detail view of device for mechanical limit for testing single-DOF-joint torque provided by the invention.
Fig. 4 is a kind of fixed ring sensor position of ankle-joint of device for testing single-DOF-joint torque provided by the invention
Set schematic diagram.
Appended drawing reference in Fig. 1 to Fig. 4: thigh fixed ring (001), air bag (002), ankle-joint fixed ring (003), thigh bar
Fixing belt (004), shank bar fixing belt (005), connector (006), torque sensor (007), mechanical position limitation (008), thigh
Bar (009), shank bar (010), force snesor (011).
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, it is described during example be shown in the accompanying drawings,
In from beginning to end same or similar label indicate same or similar structure or structure with the same or similar functions.Below
It is exemplary by reference to the embodiment that attached drawing describes, for explaining only the invention, and cannot be construed to limit of the invention
System.
As shown in Figure 1,2,3, 4, a kind of device for testing single-DOF-joint torque, including wearing personnel's limbs are wearable
Structure determines the relative position of thigh fixed ring (001) Yu thigh bar (009) according to wearing personnel's body structure, determines that ankle closes
The relative position for saving fixed ring (003) and shank bar (010), meets the wearing personnel wearing of different statures, and is added using nut
With fixation.
Further, pressure in air bag is determined according to test requirements document, air bag is charged to specified air pressure, and will be of the invention big
Leg bar is fixed on testing stand.
Further, thigh bar fixing belt (004) and shank bar fixing belt can be used on fixation position in the present invention
(005) wearing personnel's limbs are fixed on device, guarantee the flexibility of wearing personnel movement.
Further, shank bar (010) and thigh bar (009) are hinged with connector (006), before realizing shank bar
After swing.
Further, apparatus of the present invention install strong/torque sensor, to measure the movement tendency of wearing personnel's limbs
With motion intention and joint power and joint moment.When dressing the movement of personnel's shank, shank applies apparatus of the present invention corresponding
Power, torque sensor measures the joint moment at knee joint at this time, and force sensor measuring shank is to knee joint fixed ring (003)
Active force calculates joint moment by Calculating Torque during Rotary formula.
Further, it is 0 ° that the angle theta between thigh and shank is corresponded to when knee joint angle is 0 °, and corresponding knee joint is complete
The case where stretching, setting are original state at this time, when wearing personnel's shank does clockwise rotational movement around knee joint, the present invention
Device, which is fixed on the torque sensor (007) on the outside of connector (006), will measure kneed torque.Meanwhile it is small to dress personnel
Leg will increase active force to the force snesor (011) of ankle-joint fixed ring (003) interior side-lower, at this point, according to Calculating Torque during Rotary
Formula:
M=F × l
Wherein M is power F to the torque at knee joint, and l is lower-leg length.Therefore, by calculating, knee joint can be obtained again
Torque.
Further, when shank turns over certain angle around knee joint clockwise, apparatus of the present invention are fixed on connector (006)
The kneed torque of real-time measurement is obtained new data by the torque sensor (007) in outside；Ankle-joint is also secured to fix
The force snesor (011) of ring (003) interior side-lower will also acquire new data, can also be calculated according to above-mentioned formula and obtain new one group
Torque numerical value.The construction and basic exercise rule in joint are tried according to human body, the activity point of view of human body knee joint is 0 °~150 °,
Therefore, a kind of device of test single-DOF-joint torque of the invention can get human body knee joint activity point of view from 0 °~150 °
Torque.
Further, after dressing personnel's shank and being rotated clockwise to extreme position around knee joint, shank is from the limit
Around knee joint counterclockwise rotary motion, dressing personnel's shank ankle will reduce on the inside of ankle-joint fixed ring (003) for position
The active force of the force snesor (011) of lower section increases to the force snesor (011) of ankle-joint fixed ring (003) inside front
Active force.It can get torque when wearing personnel shank rotates counterclockwise according to above-mentioned Calculating Torque during Rotary formula.The company of being also secured to
Connect the torque at torque sensor (007) the measurement wearing personnel knee joint on the outside of device (006).It is inverse wearing personnel's shank has been reached
The motion detection of hour hands rotation and the purpose of power-assisted.
Further, when shank turns over certain angle around knee joint counterclockwise, apparatus of the present invention are fixed on connector (006)
The kneed torque of real-time measurement is obtained new data by the torque sensor (007) in outside；Ankle-joint is also secured to fix
The force snesor (011) of ring (003) inside front will also acquire new data, can also be calculated according to above-mentioned formula and obtain new one group
Torque numerical value.
Further, due to the participation of someone in ectoskeleton man-machine system, so that the safety of exoskeleton system is especially heavy
It wants, is potentially threatened wherein being on the one hand just embodied in exoskeleton system, if ectoskeleton operating failure occurs and will will lead to people
The action behavior that body is caused danger, if it is more than the motion range of the joint limit that ectoskeleton operating, which drives human motion, this can be to wearing
Wearer generates great security risk, and to avoid occurring such unexpected dangerous situation, a kind of test of the present invention is single
Mechanical position limitation (008) is being arranged with shank bar (010) junction in the thigh bar (009) of the device of degree-of-freedom joint torque, when small
Leg bar (010) will be blocked by it and cannot be continued to rotate when going to mechanical position limitation (008) (position as shown in Fig. 3), ensured
While the required freedom degree of mechanism, the generation of the forms of motion for the contingency being likely to occur is avoided.
Exemplary description is carried out to the present invention above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as modify to technical solution of the present invention or this it is same replace, using method concept and technology of the invention
The improvement for the various unsubstantialities that scheme carries out, without departing from the spirit and scope of the technical solution of the present invention, or not improved general
Conception and technical scheme of the invention directly apply to other occasions, within the scope of the present invention.
Claims (7)
1. a kind of device for testing single-DOF-joint torque, which includes: thigh fixed ring, thigh bar, shank bar, power biography
Sensor, torque sensor, air bag, knee joint fixed ring, ankle-joint fixed ring；The upper end of the thigh bar (009) and thigh
The inside of fixed ring (001) is hinged, and the thigh fixed ring and thigh bar hinged place are linear structure, remaining place is ring junction
Structure；The lower end of thigh bar (009) is hinged by connector (006) and the upper end of shank bar (010), and shank bar (010) can be around friendship
Contact fixed-axis rotation；The force snesor is set to the inside at the hinge joint of thigh bar and shank bar, the torque sensor
It is set to the outside at the hinge joint of thigh bar and shank bar；The thigh bar (009) and shank bar junction are provided with machinery
Position limiting structure (008), prevents shank bar from excessively rotating；The knee joint fixed ring (005) is set to shank bar top close to knee
The position in joint, the ankle-joint fixed ring (003) are set to shank bar lower part close to ankle-joint location, and the knee joint is fixed
Ring (005), the outside of ankle-joint fixed ring (003) and shank bar are hinged；Power/the torque sensor is set to；The air bag
For hollow tubular bladder, while being set to thigh fixed ring, thigh bar, shank bar, knee joint fixed ring, ankle-joint fixed ring
Inside.
2. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that the connector
(006) be stair-stepping strip laminated structure, including higher level's bench, ladder linkage section, junior's bench, higher level's bench with it is small
The top of leg bar connects, and the upper end of the junior's bench and shank bar that make connector forms hanging interlayer；The thigh bar
Lower part is set in the hanging interlayer, and thigh bar lower end is contacted with the ladder section stage of connector, the shank bar
Upper end, connector junior bench end and thigh bar are hinged；The mechanical limit structure (008) is thigh bar bottom end
A part；Thigh bar end is originally used for one end of rectangular laminated structure, and the angle of shank bending side is corresponded to the square structure
It carries out round corner treatment and forms mechanical limit structure；It is not contacted with the ladder linkage section of connector at rounded corner when shank bending
Realization is freely rotated, when shank stretches position rounded corner place contacted with the ladder linkage section of connector, block thigh bar to
Limitation shank bar continues to rotate.
3. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that the thigh bar
(009) the strip rod piece of thigh two sides is arranged in parallel in for a strip rod piece or two；The shank bar is a strip
Rod piece or two are arranged in parallel in the strip rod piece of shank two sides.
4. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that on the thigh bar
It is provided with thigh bar fixing belt, thigh bar fixing belt is provided with the inside of thigh bar.
5. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that the thigh bar with
Hole is set on shank bar, for adjusting thigh fixed ring, knee joint fixed ring, ankle-joint fixed ring thigh bar fixing belt
Fixed position.
6. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that the thigh is solid
Determining ring (001), knee joint fixed ring (005), ankle-joint fixed ring (003), connector (006) material can be moulded using hard
One of material, hard alloy are a variety of.
7. a kind of device for testing single-DOF-joint torque as described in claim 1, it is characterised in that a kind of test
Thigh bar fixing belt (004), the shank bar fixing belt (005) of the device of single-DOF-joint torque can be elastic band, magic
One of patch or buckle are a variety of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030271.4A CN109746940A (en) | 2019-01-14 | 2019-01-14 | A kind of device for testing single-DOF-joint torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030271.4A CN109746940A (en) | 2019-01-14 | 2019-01-14 | A kind of device for testing single-DOF-joint torque |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109746940A true CN109746940A (en) | 2019-05-14 |
Family
ID=66405584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910030271.4A Pending CN109746940A (en) | 2019-01-14 | 2019-01-14 | A kind of device for testing single-DOF-joint torque |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109746940A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549078A (en) * | 2020-12-03 | 2021-03-26 | 诸暨市创新弹簧有限公司 | Accurate comprehensive industrial robot maintenance detection device |
| EP3900614A1 (en) * | 2020-12-16 | 2021-10-27 | Univerza na Primorskem, Universita del Litorale | A device for measuring knee torque during static contractions in bedridden humans |
| CN114851172A (en) * | 2022-06-02 | 2022-08-05 | 电子科技大学 | Human-computer interaction force detection device of exoskeleton robot |
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Application publication date: 20190514 |