CN113017660A - Experiment platform suitable for biplane X-ray motion capture system - Google Patents
Experiment platform suitable for biplane X-ray motion capture system Download PDFInfo
- Publication number
- CN113017660A CN113017660A CN202110272630.4A CN202110272630A CN113017660A CN 113017660 A CN113017660 A CN 113017660A CN 202110272630 A CN202110272630 A CN 202110272630A CN 113017660 A CN113017660 A CN 113017660A
- Authority
- CN
- China
- Prior art keywords
- vertical frame
- bidirectional ratchet
- ratchet wheel
- plate
- dial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002474 experimental method Methods 0.000 title claims abstract description 40
- 239000004576 sand Substances 0.000 claims abstract description 20
- 230000002457 bidirectional effect Effects 0.000 claims description 55
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 2
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 10
- 238000012360 testing method Methods 0.000 description 10
- 238000004458 analytical method Methods 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 5
- 238000002594 fluoroscopy Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 239000007943 implant Substances 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 240000004045 Cassia javanica Species 0.000 description 1
- 238000012404 In vitro experiment Methods 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007012 clinical effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000012933 kinetic analysis Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/505—Clinical applications involving diagnosis of bone
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B42/00—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means
- G03B42/02—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means using X-rays
Abstract
The invention discloses an experimental platform suitable for a biplane X-ray motion capture system, which comprises a lifting mechanism, a rolling and angle maintaining mechanism and a multi-pavement and three-dimensional force plate system. The invention can not only change the horizontal height of the main board of the tested road surface, but also change the pitch angle and the roll angle of the main board, and the height and the angle can be displayed in real time through the scale marks. The main board can be used independently to provide a road surface in a horizontal or inclined state, the force board collects stress information of the foot soles, and the main board can be combined with the front auxiliary board and the rear auxiliary board to be used, so that planes in the left direction, the right direction and the front direction and the rear direction can be provided simultaneously. The sand groove can provide soft ground and can simulate soft road surface environments such as deserts or sand beaches. The experiment platform can be flexibly adjusted, and when the biplane X-ray motion capture system is used for carrying out multiple experiments under different conditions, the positioning and calibration times can be effectively reduced, the workload is reduced, and the labor and the time are saved.
Description
Technical Field
The invention relates to the field of biplane X-ray fluoroscopy and experimental equipment, in particular to an experimental platform suitable for a biplane X-ray motion capture system.
Background
Human joint motion analysis is an important research field of biomechanics and has important significance on qualitative or quantitative analysis of human joint motion in clinic and engineering. In clinic, human joint motion analysis can be used for evaluating joint motion function, researching the motion mechanics difference between pathological joints and normal joints, and diagnosing and recovering. Meanwhile, the movement of the implant or the prosthesis can be tracked and quantitatively described, and the degree of position change of the implant or the prosthesis in the human body can be evaluated. In engineering, the method can provide important biomechanical data support for human joint movement for the development of functional joints of humanoid robots and rehabilitation aids.
In the experimental study on the joint movement of a human body, in the early stage, an in-vitro experiment is mostly adopted, for example, a robot is used for driving an in-vitro lower limb sample to perform the movement analysis of a knee joint or an ankle joint, the in-vitro study cannot truly restore the normal physiological movement, and the experimental result has great limitation. With the development of technology, the combined use of both optical motion capture and three-dimensional force measurement platforms has become the main method for studying human joint motion. The optical motion capture system tracks and captures a mark point fixed or adhered on the surface of human skin through a camera system to obtain relevant kinematic parameters of a subject, but a certain relative motion exists between the skin and bones, so that a large experimental error is caused. With the development of fluoroscopy technology, fluoroscopy technologies such as X-ray and CT are used for observing bony tissues and have a great clinical effect, but the fluoroscopy technology can only observe joints or bones under two-dimensional or static conditions and cannot meet the requirement of joint motion under three-dimensional dynamic conditions.
The use of a biplane X-ray motion capture system to study human body joint motion is the most recently developed high-precision bone motion test and analysis technology. The biplane X-ray motion capture system comprises two sets of high-speed X-ray measurement systems, can shoot dynamic images of skeleton motion in the human motion process from two different directions simultaneously, and can effectively realize the test analysis of three-dimensional dynamic six-degree-of-freedom data of human joints by matching with modeling and image processing software. The technology has the characteristics of in-vivo, non-invasive, three-dimensional, accurate and reliable motion, but when the system is used for carrying out experiments on different test objects and motion modes, in order to ensure the test precision, the spatial positioning and calibration are required to be carried out for multiple times until the calculated error after calibration meets the specified requirements, so that the experiments can be carried out. For example, before a knee joint kinematics experiment, two pairs of X-ray transmitting bulbs and image intensifiers need to be spatially positioned, and then calibration and error correction are performed, which consumes a lot of time and energy for scientific researchers. Meanwhile, the ground or simple lap joint wood boards and profile devices are mostly adopted as walking planes in the current experiment, and the experiment test requirements of various pavement environments such as inclined plane walking, side-tipping walking, soft pavement walking and the like cannot be met. In addition, the biplane X-ray motion capture system can only analyze and study kinematic data, does not have ground reaction data, and cannot perform further kinetic analysis and calculation in combination with the kinematic data measured by the X-ray system, thereby bringing about research limitations.
In view of the above situation of using a bi-plane X-ray motion capture system to study the mechanics of human joint motion, there is a need for an auxiliary experimental platform suitable for a bi-plane X-ray motion capture system to reduce the positioning and calibration operations performed before the experiment, provide different test road surfaces, perform the experimental tests under the condition of multiple planes, and obtain the ground reaction data at the same time, thereby satisfying the requirements of efficient testing and analysis of the motion and mechanics of the human skeletal muscle system under the condition of multiple lines.
Disclosure of Invention
The invention provides an auxiliary experiment platform suitable for a biplane X-ray motion capture system, which can effectively reduce the positioning and calibration times before the biplane X-ray motion capture system is used for joint motion research experiments, reduce the workload and save the labor and time. Moreover, different pavements can be arranged, and the experiment under various motion states is met. Meanwhile, ground reaction force data can be obtained through experiments, and dynamic analysis and calculation can be carried out.
The biplane X-ray system consists of a first X-ray bulb tube, a second X-ray bulb tube, a first image intensifier and a second image intensifier. The light beam center of the first X-ray bulb tube is over against the center of the first image intensifier, and the light beam center of the second X-ray bulb tube is over against the center of the second image intensifier. The positions of the two pairs of X-ray bulbs and the image intensifier can be randomly adjusted in space according to experimental requirements, and the joint motion acquisition area is arranged at the intersection of the two beams of light. The invention provides an experimental platform suitable for a biplane X-ray motion capture system, which is suitable for the biplane X-ray motion capture system to carry out human body joint motion mechanics experiments.
The invention comprises a lifting mechanism, a rolling and angle keeping mechanism and a multi-pavement and three-dimensional force plate system.
The lifting mechanism comprises a left vertical frame, a right vertical frame, a front guide rod, a rear guide rod, a sliding block, a jack, a chassis, a hydraulic pump and a land wheel. The front guide rod and the rear guide rod are fixed inside the left vertical frame and the right vertical frame, the sliding block is provided with the front guide hole and the rear guide hole, the front guide rod penetrates through the front guide hole, the rear guide rod penetrates through the rear guide hole, the sliding block can slide in the left vertical frame and the right vertical frame along the up-down direction, and the front guide rod and the rear guide rod play roles in guiding and positioning. The jack is fixedly placed in the center of the bottom of the vertical frame, the upper surface of a piston column of the jack is combined with the lower surface of the sliding block, and the lifting of the sliding block is controlled by controlling the rising or falling of the piston column through the pressure rod. The outer surface of left grudging post and right grudging post is equipped with the scale respectively, aligns through the lower surface of slider and the scale mark of scale can accurate display slider ground clearance, and then makes clear and definite height and the vertical inclination of walking road surface mainboard. Four land wheels which can synchronously move in the vertical direction are arranged below the chassis, and the lifting of the four land wheels is controlled by a hydraulic pump. When whole experiment platform need remove or need adjust the pitch angle of power board and then need change the distance between left grudging post and the right grudging post, four land wheels of hydraulic pump control descend in step, make land wheel and ground contact, can make things convenient for the removal of experiment platform or shorten the distance between left grudging post and the right grudging post. When the experiment platform is adjusted, in order to keep the stability of the whole experiment platform, the hydraulic pump controls the four land wheels to ascend, so that the lower surface of the chassis is in contact with the ground. A plurality of hanging columns are arranged in front of and behind the upper ends of the left vertical frame and the right vertical frame, hanging rods can be overlapped between the left vertical frame and the right vertical frame, two ends of each hanging rod are hung on the hanging columns, handrails capable of sliding axially are arranged on the hanging rods, and when a person walks, the person can hold the handrails to keep body balance and stability.
The roll and angle keeping mechanism comprises a dial, a limiting block, a bidirectional ratchet wheel, a pawl, a tension spring, a pawl handle and a pressure spring. The dial and the bidirectional ratchet wheel are coaxially mounted through a rotating shaft, the bidirectional ratchet wheel can rotate around the center, the pawl is arranged above the bidirectional ratchet wheel, the limiting block is fixedly connected above the dial, the limiting block is provided with a limiting groove, a pressure spring is arranged in the limiting groove, the upper end of the pressure spring is connected with the upper end face of the limiting groove, and the lower end of the pressure spring is connected with the upper end of the pawl handle, so that the pawl handle always bears downward pressure. The tension spring is arranged between the two pawls, so that the two pawls always bear the tension force pointing to the space between the two pawls. Under the combined action of the tension spring and the pressure spring, the pawl is tightly combined with the bidirectional ratchet wheel, so that the rotation of the bidirectional ratchet wheel is better limited. The dial is marked with scale lines for accurately displaying the rotation angle of the bidirectional ratchet. A U-shaped groove with a downward opening is arranged below the bidirectional ratchet wheel, two dial positioning holes are arranged below the outer surface of the dial, two ratchet positioning holes are arranged above the surface of the bidirectional ratchet wheel, and when the bidirectional ratchet wheel rotates 180 degrees to enable the U-shaped groove to be opened upwards, the positioning pins can penetrate through the dial positioning holes and the ratchet positioning holes so as to limit the rotation of the bidirectional ratchet wheel relative to the dial. The two sides of the U-shaped groove are provided with rotating round holes for connecting a multi-pavement and a three-dimensional force plate system.
The multi-pavement and three-dimensional force plate system comprises a main plate, a front auxiliary plate, a rear auxiliary plate, supporting legs and a computer controller. The mainboard is the cuboid board, and upper surface mosaic has first power board, second power board and third power board, and husky groove has been seted up to the lower surface, and first power board, second power board and third power board are equipped with triaxial power piezoelectric material sensor, the load information of three direction about, around, about measurable quantity, its atress signal is transmitted to computer controller by output line, and the preceding side in husky groove and back side adopt the ya keli board of high density. The left end and the right end of the main board are provided with rotating pin shafts, and the rotating pin shafts are matched with rotating round holes in the bidirectional ratchet wheel, so that the main board can rotate up and down around the axis of the rotating pin shafts. The mainboard upper surface both sides distribute there is the mainboard connecting hole, and both sides face is opened there is the spread groove, and the side of preceding subplate and back subplate is equipped with the connection boss, and it has the subplate connecting hole to open on the connection boss, connects boss and spread groove adaptation, uses the connecting pin to pass mainboard connecting hole and subplate connecting hole, makes preceding subplate and back subplate and mainboard connection. During the experiment, the main board can provide the walking road surface alone, and the main board, the front auxiliary board and the rear auxiliary board can provide planes in the left direction, the right direction and the front direction and the rear direction simultaneously. The lower surface of the front auxiliary plate and the lower surface of the rear auxiliary plate are provided with supporting holes, the upper ends of the supporting legs capable of continuously adjusting the height extend into the supporting holes, and the lower ends of the supporting legs are in contact with the ground, so that the firmness and stability of the front auxiliary plate and the rear auxiliary plate during bearing are ensured.
The lifting mechanism, the rolling and angle keeping mechanism are fixedly connected with the dial through a sliding block, and the rolling and angle keeping mechanism is driven to lift through the lifting of the sliding block. The transverse rolling and angle keeping mechanism and the multi-pavement and three-dimensional force plate system are in pin connection with the rotating round holes in the bidirectional ratchet wheel through rotating pin shafts at two ends of the main plate, so that the main plate can rotate up and down for a certain angle around the pin shafts. The multi-pavement and three-dimensional force plate system can independently use the main plate to provide planes and inclined planes in the left and right directions and inclined planes with certain rolling angles, and the first force plate, the second force plate and the third force plate are used for collecting ground reaction force information; the bottom surface of the main board can be turned for 180 degrees upwards, fillers such as sand soil or sand can be filled in the sand groove of the bottom surface, and when a person walks in the sand groove, a walking experiment on a soft road surface can be simulated. According to the multi-pavement and three-dimensional force plate system, the main plate can be combined with the front auxiliary plate and the rear auxiliary plate, so that planes in the left direction, the right direction and the front direction and the rear direction can be provided at the same time.
The working process and principle of the invention are as follows:
in the specific implementation process, the jacks at the bottoms of the left vertical frame and the right vertical frame control the lifting of the sliding block through the lifting of the piston columns, the front guide rod and the rear guide rod play a role in guiding the sliding block when the sliding block is lifted, and the graduated scale can display the ground clearance of the sliding block in the lifting or descending process. The sliding block is fixedly connected with the dial, the transverse roller and the angle retaining mechanism are driven to lift through the lifting of the sliding block, the dial is connected with the center of the bidirectional ratchet wheel through a pin, the bidirectional ratchet wheel can rotate relative to the dial, the rotating position of the bidirectional ratchet wheel is controlled by the pawl, and the scale marks on the dial can display the rotating angle of the bidirectional ratchet wheel. The rotating pin shafts at the left end and the right end of the main board are matched with the rotating round holes on the bidirectional ratchet wheel, so that the main board can rotate up and down around the axis of the rotating pin shaft. The main board can not only be lifted or lowered along with the two-way ratchet wheels, but also be lifted to different heights along with the two-way ratchet wheels, so that the main board has a pitch angle, can also have a roll angle along with the rotation of the two-way ratchet wheels, and can also be rotated 180 degrees along with the two-way ratchet wheels so that the bottom sand groove faces upwards. The main board can be used independently, and can be combined with the front auxiliary board and the rear auxiliary board, so that planes in the left direction, the right direction and the front direction and the rear direction can be provided simultaneously. When the pitch angle needs to be adjusted and the distance between the left vertical frame and the right vertical frame is further changed, the steel wire rope bypasses the fixed pulley, one end of the steel wire rope is connected with the sliding block in the left vertical frame, the other end of the steel wire rope is connected with the right vertical frame, and meanwhile, the hydraulic pump controls the four ground wheels to synchronously descend, so that the steel wire rope has pulling force to act on the right vertical frame along with the ascending of the sliding block in the left vertical frame, and the distance between the left vertical frame and the right vertical frame is shortened. The land wheel has the effect of saving labor in the process of changing the distance between the left vertical frame and the right vertical frame and moving the whole experiment platform. When the position of the experiment platform or the distance between the left vertical frame and the right vertical frame is determined, the hydraulic pump controls the four land wheels to ascend synchronously, so that the chassis is in contact with the ground, and the stability of the whole experiment platform is ensured. The hanging rod can be hung between the left vertical frame and the right vertical frame, can be hung horizontally or obliquely, the handrail which can slide along the axial direction is arranged on the hanging rod, and when a person walks, the handrail can be held by hands to keep the body balance and stability.
The invention has the beneficial effects that:
1. the invention can effectively reduce the positioning and calibration times before the joint motion research experiment by using the biplane X-ray motion capture system, reduce the workload and save the labor and time. When the experimental conditions are changed, the experimental platform can adapt to the X-ray system instead of the X-ray system.
2. The invention can change the horizontal height of the main board of the tested road surface and the pitch angle, not only can be high on the left and low on the right, but also can be low on the left and high on the right, and can change the roll angle of the main board, and the height and the angle can be displayed in real time through the scale marks.
3. The mainboard both can the exclusive use, provides the road surface under level or the tilt state, and ground reaction information is gathered to the power board simultaneously, can also use with preceding subplate and back subplate combination, can provide the plane of controlling and two directions around and simultaneously.
4. The use of pulley and wire rope when changing mainboard angle of pitch, can change the distance between left grudging post and the right grudging post in step, the round pin axle atress that is unlikely to mainboard both ends is too big and takes place to damage. The land wheel is used, so that the distance between the left vertical frame and the right vertical frame can be changed, and the effect of saving labor can be achieved in the moving process of the whole experiment platform.
5. The sand groove can provide soft ground, can simulate soft road surface environment such as desert or sandy beach, and the preceding side in sand groove and back side adopt high density ya keli board, can reduce the sheltering from of metal material to X ray when simulation soft ground walking experiment.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the lifting mechanism of the present invention.
Fig. 3 is a schematic view of the roll and angle retaining mechanism of the present invention.
Figure 4 is an exploded view of the multi-pavement and three-dimensional force plate system of the present invention.
Fig. 5 is a schematic diagram of the motherboard pitching operation according to the present invention.
FIG. 6 is a schematic diagram of the main board rolling operation according to the present invention.
Wherein: 1-a lifting mechanism; 101-left standing frame; 102-right standing frame; 103-front guide rod; 104-rear guide rod; 105-a slider; 106-jack; 107-chassis; 108-a hydraulic pump; 109-land wheel; 110-front guide hole; 111-rear guide hole; 112-piston column; 113-a compression bar; 114-a scale; 115-hanging columns; 2-roll and angle retention mechanism; 201-dial; 202-a limiting block; 203-bidirectional ratchet; 204-pawl; 205-pressure spring; 206-a pawl handle; 207-tension spring; 208-a rotating shaft; 209-limit groove; 210-graduation mark; 211-U-shaped slot; 212-dial locating holes; 213-ratchet wheel positioning hole; 214-rotating the circular hole; 3-multi-pavement and three-dimensional force plate systems; 301-a main board; 302-front sub-panel; 303-rear auxiliary plate; 304-support legs; 305-a first force plate; 306-a second force plate; 307-a third force plate; 308-a sand groove; 309-output line; 310-a computer controller; 311-rotating pin shaft; 312-motherboard connection hole; 313-a connecting trough; 314-connecting boss; 315-sub-panel attachment holes; 316-connecting pin; 317-support holes; 318-anterior lateral edge; 319-posterior lateral; 4-hanging the rod; 5-a handrail; 6-fixed pulley; 7-hanging a ring; 8-a steel wire rope; 9-hanging hooks; 10-biplane X-ray system; 1011-first X-ray tube; 1012-second X-ray tube; 1013-a first image intensifier; 1014-a second image intensifier;
Detailed Description
Referring to fig. 1, 2, 3, 4, 5 and 6, the present embodiment includes a lifting mechanism 1, a rolling and angle maintaining mechanism 2, and a multi-road and three-dimensional force plate system 3;
the lifting mechanism 1 comprises a left vertical frame 101, a right vertical frame 102, a front guide rod 103, a rear guide rod 104, a sliding block 105, a jack 106, a chassis 107, a hydraulic pump 108 and a land wheel 109. A front guide rod 103 and a rear guide rod 104 are fixed inside the left vertical frame 101 and the right vertical frame 102, a front guide hole 110 and a rear guide hole 111 are arranged on the slide block 105, one side of the slide block 105 is fixedly connected with a dial 201 in the roll and angle holding mechanism 2, the front guide rod 103 penetrates through the front guide hole 110, the rear guide rod 104 penetrates through the rear guide hole 111, so that the slide block 105 can slide in the vertical direction inside the left vertical frame 101 and the right vertical frame 102, and the front guide rod 103 and the rear guide rod 104 play a role in guiding. The jack 106 is fixedly arranged at the bottom center of the left vertical frame 101 and the right vertical frame 102, due to the gravity action of the sliding block 105 and the rolling and angle keeping mechanism 2, the upper surface of the piston column 112 of the jack is combined with the lower surface of the sliding block 105, the lifting of the sliding block 105 is controlled by controlling the rising or falling of the piston column 112 through the pressure rod 113, and then the rolling and angle keeping mechanism 2 can move up and down in the vertical direction. The outer surfaces of the left vertical frame 101 and the right vertical frame 102 are respectively provided with a graduated scale 114, the height of the sliding block 105 from the ground can be accurately displayed by aligning the lower surface of the sliding block 105 with the graduation lines of the graduated scale 114, and the height and the longitudinal inclination angle of the main board 301 of the walking road surface can be calculated by the height of the left sliding block 105 from the ground and the height of the right sliding block 105 from the ground. Four land wheels 109 which can move synchronously in the vertical direction are arranged below the chassis 107, and the lifting of the four land wheels 109 is controlled by a hydraulic pump 108. When the whole experiment platform needs to be moved or the pitch angle of the main board 301 needs to be adjusted so as to change the distance between the left vertical frame 101 and the right vertical frame 102, the hydraulic pump 108 controls the four land wheels 109 to synchronously descend, so that the land wheels 109 are in contact with the ground, and the experiment platform can be conveniently moved or the distance between the left vertical frame 101 and the right vertical frame 102 can be shortened. When the test platform is adjusted, the hydraulic pump 108 controls the four land wheels 109 to be raised in synchronization to bring the lower surface of the chassis 107 into contact with the ground in order to keep the entire test platform stable, so that the land wheels 109 are brought into contact with the ground when the left and right stands 101 and 102 need to be moved, and the chassis 107 is brought into contact with the ground in a stable state. The upper ends of the left vertical frame 101 and the right vertical frame 102 are provided with a plurality of hanging columns 115 in the front and the back, the hanging rods 4 can be lapped between the left vertical frame 101 and the right vertical frame 102, the two ends of each hanging rod 4 are hung on the hanging columns 115, the hanging rods 4 can be hung horizontally or obliquely, the hanging rods 4 are provided with handrails 5 which can slide along the axial direction, and when a person walks, the person can hold the handrails 5 to keep the body balance and stability.
The roll and angle maintaining mechanism 2 comprises a dial 201, a limit block 202, a bidirectional ratchet 203, a pawl 204, a pressure spring 205, a pawl handle 206 and a tension spring 207. The dial 201 and the bidirectional ratchet 203 are coaxially mounted through a rotating shaft 208, the bidirectional ratchet 203 can rotate around the center to further drive the main board 301 to roll transversely, a pawl 204 is arranged above the bidirectional ratchet 203, a limiting block 202 is fixedly connected above the dial 201, a limiting groove 209 is formed in the limiting block 202, a pressure spring 205 is arranged in the limiting groove 209, the upper end of the pressure spring 205 is connected with the upper end face of the limiting groove 209, and the lower end of the pressure spring 205 is connected with the upper end of a pawl handle 206, so that the pawl handle 206 always bears downward pressure. A tension spring 207 is provided between the two pawls 204 so that the two pawls 204 are always subjected to a tensile force directed therebetween. Under the combined action of the pressure spring 205 and the tension spring 207, the pawl 204 is tightly combined with the bidirectional ratchet wheel 203, so that the rotation of the bidirectional ratchet wheel 203 is better limited. The scale 201 has scale lines 210 for precisely displaying the rotation angle of the bidirectional ratchet 203. When the bidirectional ratchet wheel 203 is required to be rotated, the pawl handle 206 is lifted upwards, the pawl 204 is separated from the bidirectional ratchet wheel 203, and when the bidirectional ratchet wheel 203 rotates to a specified angle according to the scale mark 210, the pawl handle 206 is released and the pawl 204 is meshed with specified teeth. The lower part of the bidirectional ratchet 203 is provided with a downward-opening U-shaped groove 211, the lower part of the outer surface of the dial 201 is provided with two dial positioning holes 212, the upper part of the surface of the bidirectional ratchet 203 is provided with two ratchet positioning holes 213, when the bidirectional ratchet 203 rotates 180 degrees to enable the U-shaped groove 211 to open upwards, the reverse side of the main plate 301 faces upwards, and positioning pins can penetrate through the dial positioning holes 212 and the ratchet positioning holes 213 to limit the rotation of the bidirectional ratchet 203 relative to the dial 201. The U-shaped groove 211 is provided with rotary circular holes 214 on both sides for connecting the multi-road surface and the force plate system 3.
The multi-road and three-dimensional force plate system 3 comprises a main plate 301, a front sub-plate 302, a rear sub-plate 303, support legs 304 and a computer controller 310. The main board 301 is a cuboid board, a first force board 305, a second force board 306 and a third force board 307 are inlaid on the upper surface of the cuboid board, a sand groove 308 is formed in the lower surface of the cuboid board, triaxial force piezoelectric material sensors are mounted on the first force board 305, the second force board 306 and the third force board 307, load information in the up-down direction, the front-back direction and the left-right direction can be measured, stress signals of the load information are transmitted to the computer controller 310 through an output line 309, and a front side 318 and a rear side 319 of the sand groove 308 are made of high-density acrylic boards, so that shielding of metal materials to X rays in simulation soft ground walking experiments can be reduced. The left end and the right end of the main board 301 are provided with the rotating pin shafts 311, the rotating pin shafts 311 are matched with the rotating round holes 214 on the bidirectional ratchet wheel 203, the main board 301 can rotate up and down around the axis of the rotating pin shafts 311, therefore, when the left roll and the right roll and the angle retaining mechanism 2 are lifted or lowered, the pitch angle of the main board 301 can be changed, and the main board 301 can be high on the left and low on the right, and also can be high on the left and low on the right. Mainboard connecting holes 312 are distributed on two sides of the upper surface of the mainboard 301, connecting grooves 313 are formed in two side surfaces of the mainboard 301, connecting bosses 314 are arranged on the side surfaces of the front auxiliary board 302 and the rear auxiliary board 303, auxiliary board connecting holes 315 are formed in the connecting bosses 314, the connecting bosses 314 are matched with the connecting grooves 313, and connecting pins 316 penetrate through the mainboard connecting holes 312 and the auxiliary board connecting holes 315 to enable the front auxiliary board 302 and the rear auxiliary board 303 to be connected with the mainboard 301. In the experiment, the main board 301 can provide a walking road surface independently, and the main board 301, the front auxiliary board 302 and the rear auxiliary board 303 can provide planes in the left-right direction and the front-back direction simultaneously. The lower surfaces of the front and rear sub-plates 302 and 303 are provided with support holes 317, the upper ends of the support legs 304 capable of continuously adjusting the height extend into the support holes 317, and the lower ends of the support legs are in contact with the ground, so as to ensure the firmness and stability of the front and rear sub-plates 302 and 303 during bearing.
The lifting mechanism 1 and the rolling and angle keeping mechanism 2 are fixedly connected with the dial 201 through the slide block 105, and the rolling and angle keeping mechanism 2 is driven to lift through the lifting of the slide block 105. The roll and angle retaining mechanism 2 and the multi-road surface and three-dimensional force plate system 3 are in pin connection with the rotating round holes 214 on the bidirectional ratchet wheel 203 through rotating pin shafts 311 at two ends of the main plate 301, so that the main plate 301 can rotate up and down for a certain angle around the pin shafts. The multi-road surface and three-dimensional force plate system 3 can provide a plane and an inclined plane in the left-right direction and an inclined plane with a certain roll angle by using the main plate 301 alone, and the first force plate 305, the second force plate 306 and the third force plate 307 collect ground reaction force information; the bottom surface of the main board 301 can be turned 180 degrees upwards, fillers such as sand soil or sand can be filled in the sand groove 308 of the bottom surface, and when people walk in the sand groove 308, a walking experiment of a soft road surface can be simulated. The multi-pavement and force plate system 3, the main plate 301, can also be used in combination with the front sub-plate 302 and the rear sub-plate 303, thereby providing a plane in both the left-right and front-rear directions.
In the specific implementation process, the jacks 106 at the bottoms of the left vertical frame 101 and the right vertical frame 102 control the lifting of the slide block 105 through the lifting of the piston columns 112, the front guide rod 103 and the rear guide rod 104 play a guiding role when the slide block 105 is lifted, and the graduated scale 114 can display the ground clearance during the lifting or descending process of the slide block 105. The slide block 105 is fixedly connected with the dial 201, the roll and the angle retaining mechanism 2 are driven to lift by lifting of the slide block 105, the dial 201 is connected with the center of the bidirectional ratchet 203 through a pin, the bidirectional ratchet 203 can rotate relative to the dial 201, the rotating position of the bidirectional ratchet 203 is controlled by the pawl 204, and the scale lines on the dial 201 can display the rotating angle of the bidirectional ratchet 203. The rotating pin shafts 311 at the left and right ends of the main plate 301 are matched with the rotating round holes 214 on the bidirectional ratchet 203, so that the main plate 301 can rotate up and down around the axis of the rotating pin shaft 311. The main plate 301 can be horizontally lifted or lowered along with the bidirectional ratchet wheel 203, can be lifted to different heights along with the two bidirectional ratchet wheels 203 so that the main plate 301 has a pitch angle, can have a roll angle along with the rotation of the bidirectional ratchet wheel 203, and can also be rotated 180 degrees along with the bidirectional ratchet wheel 203 so that the bottom sand groove 308 faces upwards. The main plate 301 may be used alone, or may be used in combination with the front sub-plate 302 and the rear sub-plate 303, thereby providing a plane in both the left-right direction and the front-rear direction. When the pitch angle needs to be adjusted and the distance between the left vertical frame 101 and the right vertical frame 102 needs to be changed, the wire 8 goes around the fixed pulley 6, one end of the wire is connected to the slider 105 in the left vertical frame 101, the other end of the wire is connected to the right vertical frame 102, and the hydraulic pump 108 controls the four ground wheels 109 to descend synchronously, so that the wire 8 has a tensile force acting on the right vertical frame 102 along with the ascending of the slider 105 in the left vertical frame 101, and the distance between the left vertical frame 101 and the right vertical frame 102 is shortened. The land wheel 109 has a power saving effect in changing the distance between the left stand 101 and the right stand 102 and in moving the whole experiment platform. When the position of the experimental platform or the distance between the left vertical frame 101 and the right vertical frame 102 is determined, the hydraulic pump 108 controls the four land wheels 109 to synchronously ascend, so that the chassis 107 is in contact with the ground, and the stability of the whole experimental platform is ensured. The hanging rod 4 can be hung between the left vertical frame 101 and the right vertical frame 102, and can be hung horizontally or obliquely, the hanging rod 4 is provided with the handrail 5 which can slide along the axial direction, and when a person walks, the person can hold the handrail 5 by hand to keep the body balance and stability.
The bi-plane X-ray system 10 comprises a first X-ray tube 1011, a second X-ray tube 1012, a first image intensifier 1013 and a second image intensifier 1014. The beam center of the first X-ray tube 1011 faces the center of the first image intensifier 1013 and the beam center of the second X-ray tube 1012 faces the center of the second image intensifier 1014. The positions of the two pairs of X-ray bulbs and the image intensifier can be randomly adjusted in space according to experimental requirements, and the joint motion acquisition area is arranged at the intersection of the two beams of light. Therefore, after the spatial positions of the X-ray bulb tube and the image intensifier are adjusted, the experiment platform is moved to the acquisition area, and when different experiments are replaced, only the experiment platform needs to be adjusted, so that the biplane X-ray system 10 can be positioned once and used for many times.
Therefore, the invention can not only change the horizontal height of the main board 301 of the tested road surface, but also change the pitch angle thereof, not only can be high left and low right, but also can be low left and high right, and can also change the roll angle of the main board 301, and the height and the angle thereof can be displayed in real time through the scale marks. The main plate 301 may be used alone to provide a road surface in a horizontal or inclined state, and the first force plate 305, the second force plate 306, and the third force plate 307 may collect ground reaction force information, or may be used in combination with the front sub-plate 302 and the rear sub-plate 303 to provide planes in both the left-right direction and the front-rear direction. The sand trough 308 may provide a soft ground that may simulate a soft road environment such as a desert or beach. Because the experiment platform can be flexibly adjusted, when the biplane X-ray system 10 is used for carrying out multiple experiments under different conditions, the positioning and calibration times can be effectively reduced, the workload is reduced, and the labor and the time are saved.
Claims (4)
1. The utility model provides an experiment platform suitable for biplane X-ray motion capture system which characterized in that: comprises a lifting mechanism (1), a roll and angle keeping mechanism (2) and a multi-road surface and three-dimensional force plate system (3);
the lifting mechanism (1) comprises a left vertical frame (101), a right vertical frame (102), a front guide rod (103), a rear guide rod (104), a sliding block (105), a jack (106), a chassis (107), a hydraulic pump (108) and a land wheel (109); a front guide rod (103) and a rear guide rod (104) are fixed inside the left vertical frame (101) and the right vertical frame (102), a front guide hole (110) and a rear guide hole (111) are arranged on the sliding block (105), the front guide rod (103) penetrates through the front guide hole (110), and the rear guide rod (104) penetrates through the rear guide hole (111), so that the sliding block (105) can slide in the left vertical frame (101) and the right vertical frame (102) along the vertical direction; a jack (106) is fixedly placed in the bottom centers of the left vertical frame (101) and the right vertical frame (102), the upper surface of a piston column (112) of the jack is combined with the lower surface of the sliding block (105), and the lifting of the sliding block (105) is controlled by controlling the lifting or descending of the piston column (112) through a pressure rod (113); the outer surfaces of the left vertical frame (101) and the right vertical frame (102) are respectively provided with a graduated scale (114), and the ground clearance of the sliding block (105) can be accurately displayed through the alignment of the lower surface of the sliding block (105) and the graduation lines of the graduated scale (114); four land wheels (109) which can synchronously move in the vertical direction are arranged below the chassis (107), and the lifting of the four land wheels (109) is controlled by a hydraulic pump (108); the upper ends of the left vertical frame (101) and the right vertical frame (102) are respectively provided with a plurality of hanging columns (115) at the front and the back, a hanging rod (4) can be lapped between the left vertical frame (101) and the right vertical frame (102), two ends of the hanging rod (4) are hung on the hanging columns (115), and the hanging rod (4) is provided with a handrail (5) which can slide along the axial direction;
the roll and angle keeping mechanism (2) comprises a dial (201), a limiting block (202), a bidirectional ratchet wheel (203), a pawl (204), a pressure spring (205), a pawl handle (206) and a tension spring (207); the dial (201) and the bidirectional ratchet wheel (203) are coaxially mounted through a rotating shaft (208), the bidirectional ratchet wheel (203) can rotate around the center, a pawl (204) is arranged above the bidirectional ratchet wheel (203), a limiting block (202) is fixedly connected above the dial (201), a limiting groove (209) is formed in the limiting block (202), a pressure spring (205) is arranged in the limiting groove (209), the upper end of the pressure spring (205) is connected with the upper end face of the limiting groove (209), and the lower end of the pressure spring (205) is connected with the upper end face of a pawl handle (206), so that the pawl handle (206) always bears downward pressure; a tension spring (207) is arranged between the two pawls (204), so that the two pawls (204) always bear tension force pointing to the space between the two pawls; under the combined action of the pressure spring (205) and the tension spring (207), the pawl (204) is tightly combined with the bidirectional ratchet wheel (203), so that the rotation of the bidirectional ratchet wheel (203) is better limited; scale marks (210) are engraved on the dial (201) and used for accurately displaying the rotation angle of the bidirectional ratchet (203); a U-shaped groove (211) is arranged below the bidirectional ratchet wheel (203), two dial positioning holes (212) are formed below the outer surface of the dial (201), two ratchet positioning holes (213) are formed above the surface of the bidirectional ratchet wheel (203), and when the bidirectional ratchet wheel (203) rotates 180 degrees to enable the U-shaped groove (211) to face upwards, positioning pins can be used to penetrate through the dial positioning holes (212) and the ratchet positioning holes (213) so as to limit the rotation of the bidirectional ratchet wheel (203) relative to the dial (201); two sides of the U-shaped groove (211) are provided with rotating round holes (214) for connecting a multi-road surface and a three-dimensional force plate system (3);
the multi-pavement and three-dimensional force plate system (3) comprises a main plate (301), a front auxiliary plate (302), a rear auxiliary plate (303) and supporting legs (304); the main plate (301) is a cuboid plate, a first force plate (305), a second force plate (306) and a third force plate (307) are inlaid on the upper surface of the cuboid plate, a sand groove (308) is formed in the lower surface of the cuboid plate, and ground reaction force signals of the first force plate (305), the second force plate (306) and the third force plate (307) are transmitted to the computer controller (310) through an output line (309); the left end and the right end of the main board (301) are provided with rotating pin shafts (311), the rotating pin shafts (311) are matched with rotating round holes (214) on the bidirectional ratchet wheel (203), and the main board (301) can rotate up and down around the axis of the rotating pin shafts (311); mainboard (301) upper surface both sides distribute there are mainboard connecting hole (312), both sides face is opened has spread groove (313), the side of preceding subplate (302) and back subplate (303) is equipped with connection boss (314), it has subplate connecting hole (315) to open on connection boss (314), connection boss (314) and spread groove (313) adaptation, use connecting pin (316) to pass mainboard connecting hole (312) and subplate connecting hole (315), make preceding subplate (302) and back subplate (303) be connected with mainboard (301), the lower surface of preceding subplate (302) and the lower surface of back subplate (303) all open and have support hole (317), supporting leg (304) upper end that can continuous height-adjusting stretches into in support hole (317), the lower extreme contacts with ground.
2. The experimental platform of claim 1, wherein said platform is adapted for use in a bi-planar X-ray motion capture system, and comprises: the lower end of the left vertical frame (101) is provided with a fixed pulley (6), the lower end of the right vertical frame (102) is fixedly connected with a hanging ring (7), and the lower end of a sliding block (105) in the left vertical frame (101) is fixedly connected with the hanging ring (7); when the whole experiment platform needs to move or the pitch angle of the main board (301) needs to be adjusted, and further the distance between the left vertical frame (101) and the right vertical frame (102) needs to be changed, the steel wire rope (8) bypasses the fixed pulley (6), two ends of the steel wire rope are hung and connected with the hanging ring (7) through the hook (9), the steel wire rope (8) is tensioned along with the rising of the sliding block (105) in the left vertical frame (101), the ground wheel (109) below the chassis (107) is in contact with the ground, and the distance between the left vertical frame (101) and the right vertical frame (102) is shortened accordingly.
3. The experimental platform of claim 1, wherein said platform is adapted for use in a bi-planar X-ray motion capture system, and comprises: the first force plate (305), the second force plate (306) and the third force plate (307) are provided with triaxial force piezoelectric material sensors, and load information in the vertical, front-back and left-right directions can be measured.
4. The experimental platform of claim 1, wherein said platform is adapted for use in a bi-planar X-ray motion capture system, and comprises: the front side edge (318) and the rear side edge (319) of the sand groove (308) on the lower surface of the main plate (301) adopt high-density acrylic plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272630.4A CN113017660B (en) | 2021-03-13 | 2021-03-13 | Experimental platform suitable for biplane X-ray motion capture system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272630.4A CN113017660B (en) | 2021-03-13 | 2021-03-13 | Experimental platform suitable for biplane X-ray motion capture system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113017660A true CN113017660A (en) | 2021-06-25 |
| CN113017660B CN113017660B (en) | 2023-11-14 |
Family
ID=76468796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110272630.4A Active CN113017660B (en) | 2021-03-13 | 2021-03-13 | Experimental platform suitable for biplane X-ray motion capture system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113017660B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1357371A (en) * | 1962-05-18 | 1964-04-03 | Ass Elect Ind | Tilting table, especially for x-ray examinations |
| WO2011015776A1 (en) * | 2009-08-07 | 2011-02-10 | Stephanix | Tilting radiology system, and riser |
| CN103196685A (en) * | 2013-03-04 | 2013-07-10 | 重庆大学 | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center |
| CN103239250A (en) * | 2013-05-29 | 2013-08-14 | 中国人民解放军第三军医大学第一附属医院 | Dynamic kinematic acquisition system for human body bone joint |
| CN106323662A (en) * | 2016-09-18 | 2017-01-11 | 吉林大学 | Multi-pavement motion mechanics observation system for foot type walking objects |
| CN106725548A (en) * | 2016-12-29 | 2017-05-31 | 中科超精（安徽）科技有限公司 | A kind of two-beam x-ray imaging system based on moving guide rail |
| CN111912558A (en) * | 2020-09-21 | 2020-11-10 | 吉林大学 | Open-air macrofauna many ground environment becomes slope mechanics and kinematics measurement platform |
-
2021
- 2021-03-13 CN CN202110272630.4A patent/CN113017660B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1357371A (en) * | 1962-05-18 | 1964-04-03 | Ass Elect Ind | Tilting table, especially for x-ray examinations |
| WO2011015776A1 (en) * | 2009-08-07 | 2011-02-10 | Stephanix | Tilting radiology system, and riser |
| CN103196685A (en) * | 2013-03-04 | 2013-07-10 | 重庆大学 | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center |
| CN103239250A (en) * | 2013-05-29 | 2013-08-14 | 中国人民解放军第三军医大学第一附属医院 | Dynamic kinematic acquisition system for human body bone joint |
| CN106323662A (en) * | 2016-09-18 | 2017-01-11 | 吉林大学 | Multi-pavement motion mechanics observation system for foot type walking objects |
| CN106725548A (en) * | 2016-12-29 | 2017-05-31 | 中科超精（安徽）科技有限公司 | A kind of two-beam x-ray imaging system based on moving guide rail |
| CN111912558A (en) * | 2020-09-21 | 2020-11-10 | 吉林大学 | Open-air macrofauna many ground environment becomes slope mechanics and kinematics measurement platform |
Non-Patent Citations (1)
| Title |
|---|
| 田为军;丛茜;金敬福;: "德国牧羊犬的关节角及其地反力", 吉林大学学报(工学版), no. 1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113017660B (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102028475B (en) | Squat-stand type lower limb function evaluating and exercising system | |
| EP0703752B1 (en) | Apparatus and method for assessment and biofeedback training of leg coordination and strength skills | |
| Hawkins | A new instrumentation system for training rowers | |
| CN102928572B (en) | Hydraulic-lifting self-weight loading device for landslide physical model test | |
| CN111588522B (en) | Knee joint artificial limb testing device and testing method based on industrial robot | |
| US20170296113A1 (en) | Combined device that measures the body weight and balance index | |
| CN1561908A (en) | Multiple axial force platform array and human walking gait information gaining method | |
| Laribi et al. | Human lower limb operation tracking via motion capture systems | |
| CN113017660B (en) | Experimental platform suitable for biplane X-ray motion capture system | |
| Scorza et al. | A review on methods and devices for force platforms calibration in medical applications. | |
| Delisle et al. | Kinematic analysis of footstep strategies in asymmetrical lifting and lowering tasks | |
| CN112754474A (en) | Intelligent balance detection device | |
| Newton et al. | Three-dimensional quantification of human standing posture | |
| CN111086026A (en) | Bionic robot foot pad and ground acting force test bench | |
| Goldberg et al. | In situ calibration and motion capture transformation optimization improve instrumented treadmill measurements | |
| CN110624220B (en) | Method for obtaining optimal standing long jump technical template | |
| CN203483427U (en) | Three-dimensional tread analyzing instrument | |
| CN2040365U (en) | Inertia walking state tester | |
| CN201727524U (en) | Floor stand type myodynamia measuring device | |
| Schwameder et al. | Estimation of ground reaction forces from kinematics in ski-jumping imitation jumps | |
| CN110132241A (en) | A kind of high-precision gait recognition method and device based on time series analysis | |
| CN112880901A (en) | Sufficient soil interaction mechanical properties test platform of sufficient robot | |
| CN107692970A (en) | A kind of total balance of the body detection and rehabilitation training equipment | |
| CN115060475A (en) | Foot soil action characteristic test device and test method for bionic foot | |
| Rodano | Critical issues in applied sport biomechanics research |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |