CN110192841B - Grabbing test device and method based on multi-direction instantaneous sudden change disturbance torque effect - Google Patents

Grabbing test device and method based on multi-direction instantaneous sudden change disturbance torque effect Download PDF

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CN110192841B
CN110192841B CN201910447833.5A CN201910447833A CN110192841B CN 110192841 B CN110192841 B CN 110192841B CN 201910447833 A CN201910447833 A CN 201910447833A CN 110192841 B CN110192841 B CN 110192841B
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李可
刘孟杰
魏娜
何文晶
侯莹
王琳
岳寿伟
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Shandong University
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Abstract

The utility model provides a grab test device and method based on multi-direction transient sudden change disturbance torque effect, which comprises the following steps: a hollow housing, the hollow housing containing a fluid therein; a torque sensor for detecting the lateral force of the thumb is arranged on the inner wall of the hollow shell, and a torque sensor for detecting the lateral force of the four fingers is arranged on the other side, opposite to the inner wall of the hollow shell; the hollow shell is arranged on the base, and the bottom of the base is connected with the electromagnet device; the electromagnet device is used for generating instantaneous sudden-change disturbance torque in a specified direction acting on the bottom of the base; the moment sensor detects data signals of a person to be tested under the action of the instantaneous sudden change disturbance moment, and the data signals are used for processing and then evaluating the accurate hand gripping function. Under the framework of the hypothesis of no control manifold (UCM), the index of the multi-finger dynamic signal synergy is calculated, and the index is used for evaluating the stable synergy of the multi-finger force and quantitatively evaluating the accurate grasping function of the hand function.

Description

Grabbing test device and method based on multi-direction instantaneous sudden change disturbance torque effect
Technical Field
The disclosure relates to the technical field of grip testing devices, in particular to a grip testing device and method based on multi-direction instantaneous abrupt change disturbance torque effect.
Background
The precise grasping and operation of the hand plays an important role in human production and life. The test and evaluation of the hand grasping function play an important role in the fields of neurophysiological analysis, neuropathological examination, hand function rehabilitation process monitoring and the like. An important requirement for grasping an object is to accurately sense the center of gravity of the object and to control the resultant moment of the object within a moderate range to meet the target requirements of the grasping motion. Therefore, torque-aware control capability is a key mechanism in grip control. The moment effect is divided into a stabilizing moment effect and a disturbing moment effect. When the magnitude and direction of the moment change along with time, the moment effect is a disturbing moment effect. If the moment of occurrence of the disturbance torque is random and abrupt, the moment is instantaneous and abrupt disturbance torque. Accurate sensing and control of transient sudden disturbance torques is a higher level requirement for nervous system function.
However, the inventor finds in research that no related technical scheme for accurately testing the function of the accurate gripping motion of the five fingers under the multi-direction transient sudden disturbance torque exists at present.
Disclosure of Invention
The embodiment of the specification aims to provide a gripping test device based on a multidirectional instantaneous abrupt change disturbance torque effect, and the device can be used for evaluating stable cooperativity of multi-finger force and has important values in the fields of accurate gripping function quantitative evaluation of hand functions, hand function damage evaluation and the like.
The embodiment of the specification provides a gripping test device based on a multidirectional instantaneous sudden change disturbance torque effect, which is realized by the following technical scheme:
the method comprises the following steps:
a hollow housing, the hollow housing containing a fluid therein;
a torque sensor for detecting the lateral force of the thumb is arranged on the inner wall of the hollow shell, and a torque sensor for detecting the lateral force of the four fingers is arranged on the other side, opposite to the inner wall of the hollow shell;
the hollow shell is arranged on the base, and the bottom of the base is connected with the electromagnet device;
the electromagnet device is used for generating instantaneous sudden-change disturbance torque in a specified direction acting on the bottom of the base;
the moment sensor detects data signals of a person to be tested under the action of the instantaneous sudden change disturbance moment, and the data signals are used for processing and then evaluating the accurate hand gripping function.
The embodiment of the specification provides a gripping test method based on a multidirectional instantaneous sudden change disturbance torque effect, which is realized by the following technical scheme:
the method comprises the following steps:
the gripping test device is gripped by a testee;
the bottom of a base of the gripping test device receives instantaneous sudden-change disturbance torque in a specified direction;
starting the stable end of the gripping test device to a specified height, keeping the stable end at the initial position after a set time, and obtaining a three-dimensional force, a three-dimensional moment and a pressure central point real-time signal after the test is finished;
and calculating the index of the multi-finger dynamic stability synergistic effect in the gripping process by using the three-dimensional force, the three-dimensional moment and the pressure central point real-time signal data, and evaluating the accurate gripping function of the hand.
Compared with the prior art, the beneficial effect of this disclosure is:
the device disclosed by the invention is used for functional evaluation of accurate hand grasping and accurate quantitative evaluation of hand function damage degree and rehabilitation degree, and has important application value.
The evaluation method of the device disclosed by the invention is used for calculating the index of the multi-finger dynamic signal synergy under the framework of the hypothesis of no control manifold (UCM), and is used for evaluating the stable synergy of the multi-finger force and quantitatively evaluating the accurate grasping function of the hand function.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a block diagram of a multi-directional multi-finger grip test device based on multi-directional transient disturbance torque according to an embodiment of the present disclosure;
FIG. 2 is a diagram illustrating a multi-finger grip test apparatus when a rope is straightened by a rated weight after an electromagnet is powered off according to an embodiment of the present disclosure;
FIGS. 3(a) -3(d) are schematic diagrams of the base of the multi-finger grip tester for generating transient sudden disturbance torques in different directions according to the exemplary embodiment of the present disclosure;
FIG. 4 is a flow chart of a specific experiment of an apparatus according to an embodiment of the present disclosure;
in the figure, 1 is a square hollow flat cover at the top, 2 is a square hollow structure in the testing device, 4 is a thumb side six-dimensional force/torque sensor, 5 is a forefinger side six-dimensional force/torque sensor, 6 is a middle finger side six-dimensional force/torque sensor, 7 is a first finger side six-dimensional force/torque sensor, 8 is a little finger side six-dimensional force/torque sensor, 9 is a four-finger side plane contact piece, 10 is a thumb side plane contact piece, 3 is a square base for gripping the testing device, 11 is an elastic rope, 12 is a rated weight, and 13 is an electromagnet.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example of implementation 1
The embodiment discloses a grabbing test device based on a multidirectional instantaneous sudden-change disturbing moment effect, which can generate disturbing moment states in four directions, and can accurately detect and record real-time dynamic signals such as three-dimensional force, three-dimensional moment, pressure center point position coordinates and the like of each fingertip in the process that five fingers grab an object under the action of the multidirectional instantaneous sudden-change disturbing moment by grabbing the test device. And obtaining a constraint matrix E from the finger force, and converting the finger force into a finger mode (m) by using the constraint matrix E. In the case of the mean free modulus, the uncontrolled manifold (UCM) was calculated. In the framework of the assumption of no control manifold (UCM), the synergy index Δ V of the multi-fingered kinetic signal is calculated. The device can be used for evaluating the stable cooperativity of the multi-finger force, and has important values in the fields of accurate hand function gripping function quantitative evaluation, hand function damage evaluation and the like.
In the implementation example, signals of force, moment and pressure central points are used as original signals, taking the force signals as an example, force data in a single-finger slope experiment is used for calculating a constraint matrix to reflect the relation between single finger force and resultant force, and the force signals in a formal experiment calculate the finger mode m by calculating the change of the finger force. Is a force signal in three dimensions generated by the finger tip.
Finger force is a force signal in three dimensions generated by the finger tip.
The specific structure of the testing device of the embodiment is shown in the attached figures 1-2, and comprises a water cup of the tester, a thumb side six-dimensional force/torque sensor 4 and four finger side six-dimensional force/torque sensors (an index finger side six-dimensional force/torque sensor 5, a middle finger side six-dimensional force/torque sensor 6, a first finger side six-dimensional force/torque sensor 7 and a little finger side six-dimensional force/torque sensor 8) which are in left-right relative positions and fixed on a square hollow structure 2 in the testing device, the thumb side sensor and an outer side contact plane are fixedly connected through a connecting sheet such as a thumb side plane contact sheet 10, and four finger sides are fixedly connected through a four finger side plane contact sheet 9 in the same way. The tester is square inside and is of a hollow structure, and is used for containing fluid and simulating the working state of a real water cup. The square base 3 of the gripping test device is a square cylinder, an electromagnet 13 is connected downwards from the center, and a rated weight 12 is sequentially connected to the designated positions of the center of the base at equal distances from front to back, left to right and left through an elastic rope 11. The top square hollow flat cover 1 is attached to the device.
A six-dimensional force/moment sensor refers to a sensor capable of measuring three-dimensional forces and three-dimensional moments. (in this disclosure F)XIs a force in the vertical direction, FYForce in the front-rear direction, FZForce in the left-right direction, TXFor moment about a vertical axis, TYFor moment about the sagittal axis, TZA moment about the coronal axis). The slash represents or.
In the embodiment, the placement positions of the five bilateral force and moment sensors on the bracket can be adjusted according to requirements.
The six-dimensional force/torque sensor may be replaced with other types of sensors, as long as real-time airborne force and torque data for grasping the tester is available, or the same pressure sensor is placed at a different location on the tester.
In one embodiment, the tester cup geometry may also be square or other shape, so long as it allows the tester to grip the device.
In one embodiment, fig. 2 is a diagram of a multi-finger grip test device when the rated weight straightens the rope after the electromagnet is powered off, and at this time, the electromagnet is powered off, the rated weight suddenly falls down under the action of gravity, and the elastic rope is stretched downwards to generate disturbance torque.
In one embodiment, when the electromagnet is energized, the nominal weight is tightly attracted to the electromagnet, and no force is generated on the elastic cord. When the power is cut off suddenly, the attraction of the electromagnet to the rated weight disappears, the rated weight falls downwards under the action of gravity, and the elastic rope is pulled, so that instantaneous sudden-change disturbing moment in the specified direction is generated.
The rated weight is connected to the positions of the center of the base of the grip tester, which are equidistant from the front, the back, the left and the right by ropes so as to generate instantaneous sudden-change disturbance torques in four specified directions.
Specifically, fig. 3(a) -3(d) show the situation of the instantaneous sudden change of the disturbing moment when the elastic rope is fixed at four positions of the base, which are equidistant from the center of the base.
The device disclosed by the invention can synchronously detect and store real-time dynamic signal sequences such as three-dimensional force, three-dimensional moment, pressure central points and the like of five finger tips. The appearance of the instrument structure is designed into a square column shape, and 5 six-dimensional force/torque sensors are combined inside the instrument structure. The sensor for measuring the finger tip force of the thumb and the sensors of the other four fingers are in relative positions, and the distribution positions and the distances of the sensors accord with the placement positions of the fingers when the fingers are gripped in a columnar manner.
The present disclosure relates to the generation of multi-directional transient snap disturbance torques: this disclose at accurate gripping tester base center below position design electromagnet device of indicating more to on the elastic rope is fixed in four assigned positions around the base with rated weight, through the electro-magnet outage in the twinkling of an eye, rated weight falls the tractive elastic rope suddenly and produces the disturbance moment of specified direction. Wherein the four designated positions are four positions equidistant from the center in the front, back, left and right directions of the center of the base respectively.
The method is used for simultaneously analyzing multi-path real-time dynamics signals, calculating parameters such as a constraint matrix E, a finger mode m and a performance variable PV to analyze dynamic coordination among fingers, and calculating to obtain an index reflecting stable coordination of multi-finger dynamics. This patent proposes a method based on uncontrolled manifold (UCM):
and obtaining a constraint matrix E from the finger force, and converting the finger force into a finger mode (m) by using the matrix E. In the case of the mean free modulus, the uncontrolled manifold (UCM) was calculated. And calculating the index of the multi-finger dynamic stable synergistic effect in the gripping process under the framework of the hypothesis of no control manifold (UCM).
Example II
The embodiment example discloses a gripping test method based on the multi-direction transient disturbance torque effect, and the method can be based on the test device of the embodiment example.
The experimental procedure is shown in FIG. 4. First, the information of the subject is collected, and the experimental notice and the action specification guidance are introduced. And connecting an elastic rope at a designated position on the base, connecting the rated weights by the rope, and changing the connecting position of the elastic rope to enable the rated weights to be respectively positioned at the upper side, the lower side, the left side and the right side of the base to carry out multi-finger grip test when instantaneous sudden change disturbing torque exists in a designated direction. In a single-finger slope experiment, under the condition that a test subject grasps a testing device by five fingers, a single finger (task finger) gives a force index according to a screen interface to complete a fingertip strength rising following task, an unforeseen finger (non-task finger) can generate unconscious force in the process, force data of all fingers are recorded, and each finger is tested respectively. In the formal experiment, a test subject uses the five fingers of the right hand to grab the multi-finger accurate grabbing tester, stably holds the tester to the designated height, and stably places the tester to the initial position of the table top after keeping the tester for 10 seconds. And obtaining real-time signals of the three-dimensional force, the three-dimensional moment and the pressure central point after the test is finished.
The constraint matrix (E) reflects the unintended forces that the non-task finger generates when the task finger generates a force. The E matrix was calculated using data from a single finger ramp experiment per subject.
Figure GDA0002381406890000071
Figure GDA0002381406890000072
Where I, j ═ { I, M, R, L }, where I denotes an index finger (index), M denotes a middle finger (middle), R denotes a ring finger (ring), and L denotes a little finger (little). j represents a task finger, Fi,jRepresenting the force, F, produced by the ith finger alone when the j finger is the task fingerTOT,jRepresenting the resultant force generated when the j finger is the task finger. Integral index ENjAverage k by non-task fingeri,jAnd calculating. ENj＝∑ki,j/3
For each one-finger trial, a single finger pair F for a given time interval may be calculatedTOT,jLinear regression of the forces generated, where the regression coefficient is the matrix E. The term "modality" is used to indicate the combination of forces from all fingers when only a single finger force is required to be generated, using the E-matrix to convert the finger force to the finger modality (m).
Figure GDA0002381406890000081
Wherein df isjThe change in force for a single finger can be determined from experimentally obtained force data, j ═ I, M, R, L. Considering the constraint effect, the variation of the performance variables PV (such as finger force) can be expressed as a function of these variables
dPV＝[didmdrdl]*E*m (4)
Wherein d isjThe finger coefficient is a task finger coefficient of 1, and the non-task finger coefficient is-1. In the case of the mean free modulus, the uncontrolled manifold (UCM) is calculated. It represents a combination of modal sizes consistent with stable values of performance variables. The manifold is a zero-space linear approximation spanned by basis vectors, solved by the following equation
0＝[didmdrdl]*E*ei(5)
For each hypothesis, there is a null-space basis vector, so the null-space has one dimension. The basis vector e of the null space of each sampleiNumerical calculations were performed using the null function of MATLAB. Decomposing each modal modulus vector obtained at each sampling point of a slope experiment into a projection f on a null space||And a component f perpendicular to the null space⊥。
Figure GDA0002381406890000082
f⊥＝m-f||(7)
Wherein n and k are the degrees of freedom and the number of performance variables of the m vector, respectively. The variance per degree of freedom in UCM is estimated as
Figure GDA0002381406890000091
Wherein | f|||2Is the square of the length of the deviant vector in the linearized UCM, f||Obtained from the formula (6), NtrialThe number of trials was counted. Similarly the variance perpendicular to the UCM in each degree of freedom is estimated as
Figure GDA0002381406890000092
f||The result is obtained from equation (7). The variance of all experiments in the model space is quantified in two subspaces, respectively. The variance of the modal space for each time sample is quantized in two subspaces respectively. The first subspace (UCM) corresponds to FTOTThere was no change. The second subspace is the orthogonal complement (OR) of the UCMT); within ORT variance has changed FTOT。
Figure GDA0002381406890000093
And
Figure GDA0002381406890000094
respectively called variance component V per degree of freedomUCMAnd VORT. Two variance components (V)UCMAnd VORT) Further combined to a single synergy index Δ V
ΔV＝(VUCM-VORT)VTOT(10)
Wherein each variance index is normalized according to the degree of freedom of the corresponding space; vTOTRepresents the total variance. When Δ V>0 indicates that a greater presence of stable synergy Δ V indicates a greater synergistic effect. And calculating the index for finally evaluating the accurate hand gripping function according to the synergy index.
Figure GDA0002381406890000095
Wherein Δ VaverageSynergy index obtained for healthy subject control group experiment.
According to the method, the stable cooperativity of the five fingers of the whole hand when the small moment changes in the gripping process is analyzed, so that the accurate gripping function of the hand is accurately tested, and the method is used for analyzing a multichannel dynamic signal. The prior art mainly aims at the evaluation of the gripping function of a thumb and an index finger, and the evaluation algorithm is different from that of the application.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or materials described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (6)

1. Grabbing testing arrangement based on multi-direction transient sudden change disturbance torque effect, characterized by includes:
a hollow housing, the hollow housing containing a fluid therein;
a torque sensor for detecting the lateral force of the thumb is arranged on the inner wall of the hollow shell, and a torque sensor for detecting the lateral force of the four fingers is arranged on the other side, opposite to the inner wall of the hollow shell;
the hollow shell is arranged on the base, and the bottom of the base is connected with the electromagnet device;
the electromagnet device is used for generating instantaneous sudden-change disturbance torque in a specified direction acting on the bottom of the base;
the moment sensor detects a data signal of a person to be tested under the action of the instantaneous sudden change disturbing moment, the data signal is used for processing and then evaluating the accurate hand grasping function, and the index of the stable synergistic action of the multi-finger force is calculated under the framework without control manifold hypothesis;
the electromagnet device comprises an electromagnet, a rated weight and an elastic rope, the electromagnet is connected with the base from the center downwards, and the rated weight is sequentially connected with the designated positions of the center of the base at equal distance from front to back, left to right and left by the elastic rope;
the device synchronously detects and stores three-dimensional force, three-dimensional moment and pressure central point real-time dynamics signal sequences of five finger fingertips.
2. The grip test device based on the multi-directional instantaneous abrupt disturbing torque effect as claimed in claim 1, wherein the torque sensor for thumb side force and the torque sensor for four finger side force are respectively and fixedly connected with the outer side contact plane of the hollow shell through respective corresponding contact pieces.
3. The grip test device according to claim 1, wherein the hollow housing has a square interior and the base is a square cylinder.
4. The grasping test method based on the multidirectional instantaneous sudden change disturbance torque effect is characterized by comprising the following steps of:
the gripping test device is gripped by a testee;
the bottom of a base of the gripping test device receives instantaneous sudden-change disturbance torque in a specified direction;
starting the stable end of the gripping test device to a specified height, keeping the stable end at the initial position after a set time, and obtaining a three-dimensional force, a three-dimensional moment and a pressure central point real-time signal after the test is finished;
calculating indexes of multi-finger dynamic stable synergistic effect in the gripping process by using the three-dimensional force, the three-dimensional moment and the real-time signal data of the pressure central point, calculating the indexes of the multi-finger force stable synergistic effect under the framework without control manifold hypothesis, and evaluating the accurate gripping function of the hand;
the method further comprises a single-finger slope experiment, under the condition that a test subject grasps the test device by five fingers, a single finger finishes a fingertip strength rise following task according to a given force index, each finger is tested respectively, and for each single-finger slope experiment, a single-finger pair F in a specified time interval is calculatedTOT,jLinear regression of the generated forces, wherein the regression coefficients are a constraint matrix; fTOT,jRepresenting the resultant force generated when the j finger is the task finger;
the constraint matrix E reflects the unintended forces generated by the non-task finger when the task finger generates the force, the E matrix being calculated using data from the single-finger slope experiment for each subject;
Figure FDA0002455736640000021
Figure FDA0002455736640000022
wherein I, j ═ { I, M, R, L }, wherein I represents index of the index finger, M represents middle finger, R represents ring finger ring, and L represents little finger little;
j represents a task finger, Fi,jRepresenting the force, F, produced by the ith finger alone when the j finger is the task fingerTOT,jRepresenting the resultant force generated when the j finger is the task finger.
5. The method as claimed in claim 4, wherein the constraint matrix is used to convert finger force into finger mode.
6. The grip test method based on the multi-directional transient disturbance torque effect as claimed in claim 4, wherein the overall index ENjAverage k by non-task fingeri,jCalculated to obtain ENj＝∑ki,j/3。
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