CN113616210B - Distributed arm force sensing signal acquisition device - Google Patents
Distributed arm force sensing signal acquisition device Download PDFInfo
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- CN113616210B CN113616210B CN202110871934.2A CN202110871934A CN113616210B CN 113616210 B CN113616210 B CN 113616210B CN 202110871934 A CN202110871934 A CN 202110871934A CN 113616210 B CN113616210 B CN 113616210B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/227—Measuring muscular strength of constricting muscles, i.e. sphincters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1123—Discriminating type of movement, e.g. walking or running
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
Abstract
The invention provides a distributed arm force sensing signal acquisition device, and belongs to the field of wearable equipment. The device includes sensing unit and linkage unit, wherein: the sensing unit comprises a preset number of sensor assemblies, and each sensor assembly is arranged on different measuring points of the arm; the connecting unit comprises a preset number of connecting ropes and tension sensors, and two ends of each connecting rope are respectively connected with the sensor assembly to realize the connection and fixation of the sensor assembly; and meanwhile, the connecting rope is provided with a tension sensor for converting tension on the connecting rope into an electric signal and collecting the electric signal. The invention can break through the limit of closed annular measurement in the traditional measurement scheme during measurement, expand the arm muscle movement signal measurement from arm annular two-dimensional curve measurement to integral distributed three-dimensional measurement of the arm, and introduce the tension signal to carry out specific classification and identification on the arm movement, thereby effectively improving the accuracy of movement intention identification.
Description
Technical Field
The invention belongs to the field of wearable equipment, and particularly relates to a distributed arm force sensing signal acquisition device.
Background
In recent years, wearable intelligent sensing devices such as myoelectric sensors and thin film pressure sensors are emerging along with the continuous development of the fields of biosensing and material preparation. The real-time sensing and monitoring of muscle electric signals or muscle deformation signals in the human body movement process becomes one of effective means for identifying and evaluating the movement intention of a wearer. The sensing devices are small in size and light in weight, and can provide good human-computer interaction experience for wearers. However, in order to acquire a more accurate upper limb movement state, relatively more sensing point units are often needed, which leads to an increase in system complexity and an increase in volume and cost of the sensing device. Although the wearable intelligent sensing device has great progress at present, the wearable intelligent sensing device still has difficulties and challenges in theory and technology, such as difference of arm movement data with different thicknesses; redundancy of a large number of sensing points; accuracy of wearer movement intent identification; wearability of device preparation, etc.
Currently, the mainstream measurement methods are a point location measurement method based on a surface electromyogram signal (sEMG) and an arm loop measurement method based on a myodynamic signal (FMG). The surface electromyographic signals are electric signals accompanying muscle contraction and are important methods for detecting muscle activity on the body surface in a non-invasive mode, the muscular signals are mechanical signals of transverse vibration during muscle contraction, mainly mechanical vibration generated by muscle fiber contraction caused by activating movement units of motor neurons is measured through pressure generated between local muscles of a human body and an external bounding armband after force application and expansion of the local muscles. The wearable sensing equipment can be used for sensing and monitoring arm movement and accurately predicting arm movement modes and intentions. The surface electromyographic signal sensor collects human body bioelectricity signals, and is easily influenced by subcutaneous fat, external vibration and other factors, so that the measured signals are high in noise and poor in stability. And the signal will have a large impact on the downstream motion prediction task. Therefore, in the arm movement intention recognition application, the surface electromyogram signal is less reliable. The low-cost acquisition equipment taking the muscular movement signal as a measurement object is an annular force sensing arm ring. The force sensing arm ring mainly comprises a film pressure sensor and an arm ring belt used for connecting and fixing the sensor. In the traditional force sensing arm ring, film pressure sensors are annularly and uniformly distributed on an arm belt. When a user wears the force sensing armlet, the wearing pretightening force of the armlet ensures that certain precontacting pressure exists between the membrane pressure sensing point and the muscle area to be tested. When a user performs certain actions, the contraction and relaxation of a specific muscle area corresponding to the actions are reflected as extrusion force signals of the arm band bounding area, and then the relation between different motion modes and the stress signal spectrum can be established. However, the traditional arm ring measurement is limited to the local muscle area of the limb, the collected myodynamic signal area is small, the connection mode of the force sensing points of the traditional arm ring is single, and the design of uniform circumferential distribution of the force sensing points leads to redundancy of the force sensing points under the purpose of recognizing certain specific motions.
CN108042142A provides a wearable human body posture detection and limb muscle strength test system, adopts the gasbag device of fixed human body shank, chest to monitor the muscle contraction condition when the human body moves, transmits data to the data processing module through using the radio frequency technology network, can detect human body posture and limb muscle strength, effectively is applied to directions such as ectoskeleton, helping hand robot. However, in the measurement of muscle contraction, five point locations are measured only on five parts of the left calf, the right calf, the trunk chest, the left thigh and the right thigh of a human body, and the point locations of pressure signals are not accurately positioned at the optimal measuring points for analysis, so that the signals cannot distinguish fine actions from similar actions. CN208018063U proposes an upper limb active rehabilitation training system based on flexible array sensors. The system adopts the flexible array type pressure sensor to acquire the pressure between the human skin and the exoskeleton machine, can acquire more human motion characteristic information compared with the traditional single-point pressure sensor and multi-dimensional sensor, and has high accuracy in human motion intention identification. However, the optimization of the measuring point muscle measuring points is not considered in the invention, the problems of high similarity and the like exist in a plurality of data measured by the array sensor, and the array pressure sensor does not have stretchability, so that the measuring result of the array pressure sensor is not universal for people with different body types.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a distributed arm force sensing signal acquisition device, and aims to solve the problems of measuring point redundancy and low identification precision in the conventional arm force sensing signal acquisition device.
In order to achieve the above object, the present invention provides a distributed arm force sensing signal acquisition device, which comprises a sensing unit and a connection unit, wherein:
the sensing unit comprises a preset number of sensor components, and when the device is used, the sensor components are respectively arranged on different measuring points of the arm so as to acquire muscular signals at different positions for identifying the movement intention;
the connecting unit comprises a preset number of connecting ropes and tension sensors, and two ends of each connecting rope are respectively connected with the sensor assembly so as to realize connection and fixation of the sensor assembly; meanwhile, the connecting rope is provided with a tension sensor for converting tension on the connecting rope into an electric signal and collecting the electric signal, so that the tension signal is utilized to assist in recognizing the movement intention.
As a further preferred mode, each sensor assembly comprises a base body, a pressure sensor and a connecting rope tightening structure, wherein a boss is arranged below the base body and connected with the pressure sensor, and a boss is arranged above the base body and connected with the connecting rope tightening structure; when in use, the pressure sensor is tightly attached to the arm measuring point and is used for collecting the muscular movement signals of arm muscles; the connecting rope tightening structure is connected with the connecting rope and used for tightening the connecting rope.
As a further preferred feature, each of the sensor assemblies further includes an elastic coupling body disposed below the pressure sensor for providing a supporting force for the pressure sensor.
Preferably, the connecting rope tightening structure comprises a stepless transmission assembly, a constraint assembly and a top cover, wherein the stepless transmission assembly comprises a small-diameter stepless transmission cone, a stepless transmission shaft wheel, a large-diameter stepless transmission cone and a nut, a rope ring is arranged above the small-diameter stepless transmission cone and used for being connected with the connecting rope, and a small-diameter rotating shaft is arranged below the small-diameter stepless transmission cone and used for fixing the small-diameter stepless transmission cone on the base body; the small-diameter stepless transmission cone is in transmission with the large-diameter stepless transmission cone through the stepless transmission shaft wheel, and meanwhile, the large-diameter stepless transmission cone is connected with the constraint component; the top cover is arranged above the base body, and the stepless transmission shaft wheel is fixed through a nut.
As a further preference, the restraint assembly includes a ratchet spring, a ratchet hook and a ratchet hook spring, wherein: the ratchet spring is connected with the bottom surface of the ratchet and is used for providing rebound torque for the ratchet; the ratchet wheel comprises ratchet wheel teeth and a ratchet wheel shaft, the ratchet wheel teeth adopt a unidirectional tooth shape design, and unidirectional rotation is realized under the constraint of the ratchet wheel hook; the ratchet shaft is connected with the large-diameter stepless transmission cone through a key, so that the motion control of the transmission assembly is realized; the ratchet hook spring is connected with the ratchet hook and used for resetting the ratchet hook so as to release the constraint on the ratchet.
As a further preferred, the number of ratchet hooks in the restraining assembly is 2-5.
More preferably, the number of the sensor units in the sensing unit is 8 to 16.
Further preferably, the method for determining the installation position of the sensor assembly includes: the method comprises the steps of measuring and analyzing global muscle signals of arm movement under different actions by utilizing a plurality of muscle signal measuring arm rings which are uniformly distributed in the axial direction of an arm, determining the most active muscle under different actions, and taking the most active muscle as the optimal measuring point of a distributed arm force sensing signal acquisition device.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1. according to the invention, the sensor assemblies with the preset number are arranged on the optimal measuring points of the arms, and the signal acquisition devices which are mutually connected are formed through the connecting units, so that the limit of closed annular measurement in the traditional measuring scheme can be broken through during measurement, the arm muscle movement signal measurement is expanded from arm annular two-dimensional curve measurement to arm integral distributed three-dimensional measurement, and the tension sensor is introduced into the connecting unit, so that the tension on the connecting rope is converted into an electric signal, and further a new variable is introduced to perform specific classification and identification on the arm movement, thereby effectively improving the accuracy of movement intention identification;
2. particularly, the elastic coupling body is arranged, so that the stress of the pressure sensor can be more uniform, and the influence of different conditions such as human subcutaneous fat distribution, muscle shape, wearing fabric and the like on the measured data is prevented, so that the reliability and stability of the data acquired by the pressure sensor are ensured;
3. meanwhile, the invention also optimizes the concrete structure of the tightening structure of the connecting rope, and adopts the stepless transmission assembly to realize the adjustment of the transmission ratio, thereby realizing the adjustment of the fixed length proportion of the connecting rope, and realizing the unidirectional tightening of the stepless transmission assembly through the unidirectional tooth-shaped ratchet wheel, thereby effectively controlling the proportional distance between the driver assemblies, and ensuring that the measuring positions are different from person to person when different people wear the sensor while providing the working pressure;
4. in addition, the invention measures the arm global muscle signals by using a plurality of traditional muscle signal measuring arm rings, continuously excludes corresponding point positions of low active muscles on the arm, finally determines a group of optimal measuring points of the arm muscle signals, and overcomes the defect of redundant point positions in the traditional arm rings while inheriting the measurement accuracy of traditional force sensing signals.
Drawings
Fig. 1 is a conceptual effect diagram of an assembly of a distributed arm force sensing signal acquisition device and a human body according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a connection unit according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the construction of a sensor assembly in a preferred embodiment of the invention, wherein (a), (b) are views from different angles;
FIG. 4 is an assembled cross-sectional view of the base, pressure sensor and resilient coupling in a preferred embodiment of the invention;
FIG. 5 is an exploded view of the tightening mechanism of the connecting cord in the preferred embodiment of the present invention;
FIG. 6 is a schematic view of the assembly of the restraint assembly in the preferred embodiment of the invention;
FIG. 7 is an assembled view of the fastening structure of the connecting cord in the preferred embodiment of the present invention;
FIG. 8 is a schematic structural view of a top cover in a preferred embodiment of the present invention;
FIG. 9 is a schematic winding of the connecting cord in the preferred embodiment of the present invention;
fig. 10 is a schematic diagram of the signal acquisition and analysis process in the preferred embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-sensing unit, 11-pressure sensor, 12-substrate, 13-elastic coupling body, 14-connecting rope tightening structure, 1401-top cover, 1402-ratchet wheel, 1403-large diameter stepless transmission cone, 1404-small diameter stepless transmission cone, 1405-small diameter transmission shaft, 1406-stepless transmission shaft wheel, 1407-ratchet wheel hook, 1408-ratchet wheel hook spring, 1409-ratchet wheel spring, 1410-nut, 1411-rope loop, 2-connecting unit, 21-connecting rope and 22-tension sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 4, the present invention provides a distributed arm force sensing signal acquisition device, which includes a sensing unit 1 and a connection unit 2, wherein:
the sensing unit comprises 8-16 groups of sensor components, and when the device is used, each sensor component is respectively arranged on the optimal measuring point of the arm so as to collect the muscular movement signals at different positions for identifying the movement intention; each sensor component comprises a base body 12, a pressure sensor 11, a connecting rope tightening structure 14 and an elastic coupling body 13, a corresponding boss structure is designed below the base body 12 according to the working area and the shape of the pressure sensor 11, the non-sensing surface of the pressure sensor 11 is tightly attached to the boss structure and can be matched with most pressure sensors in the market, the universality is good, and the upper part of the base body 12 is connected with the connecting rope tightening structure 14; the pressure sensor 11 is arranged above the arm, preferably a film pressure sensor is adopted to collect the muscular movement signals of the arm muscles; the connecting rope tightening structure 14 is connected with the connecting rope 21 and used for tightening the connecting rope 21;
the connecting unit 2 comprises a preset number of connecting ropes 21 and tension sensors 22, and two ends of each connecting rope 21 are respectively connected with the sensor assemblies so as to realize the connection and fixation of the sensor assemblies; the connecting ropes 21 connected with the same sensor assembly interact with each other to provide a balance constraint force to realize the accurate positioning of the sensor assembly relative to the optimal measuring point, and simultaneously provide a back supporting force required by work for the pressure sensor 11 so as to ensure that the sensing unit 1 can still have a better man-machine coupling relation when worn by different people; meanwhile, the tension sensor 22 is arranged on the connecting rope 21 and used for converting tension on the connecting rope 21 into an electric signal and collecting the electric signal, so that the controllability of the connecting tension between sensor components is realized, the variable of the connecting tension is introduced into the collection quantity of the muscle movement signal, the modeling of structural parameters such as the elastic deformation quantity of the arm band is realized, and the comprehensiveness of the muscle movement signal measurement and the accuracy of the exercise intention recognition experiment can be effectively improved.
The invention discretizes the optimal measuring point position of the arm muscle, takes each independent measuring point as a unit body, and connects the unit bodies into a whole through a connecting unit, thereby forming a distributed combination. The method for determining the installation position of the sensor assembly comprises the following steps: the method comprises the steps of measuring and analyzing global muscle signals of arm movement under different actions by utilizing a plurality of muscle signal measuring arm rings which are uniformly distributed in the axial direction of an arm, determining the most active muscle under different actions, and taking the most active muscle as the optimal measuring point of a distributed arm force sensing signal acquisition device. Compared with the traditional force sensing signal measurement arm ring, the invention breaks through the limit of closed annular measurement in the traditional measurement scheme when measuring the muscular movement signal, expands the arm muscular movement signal measurement from arm annular two-dimensional curve measurement into integral distributed three-dimensional measurement of the arm, and overcomes the defect of redundant point positions in the traditional arm ring while inheriting the measurement accuracy of the traditional force sensing signal.
Further, the sensor assembly further comprises an elastic coupling body 13, wherein the elastic coupling body 13 is arranged in a sensing area below the pressure sensor 11 and is fixed through a clamping groove in the base body 12. The elastic coupling body 13 comprises two parts from bottom to top, the first part is a meshing structure on the bottom surface of the elastic coupling body 13 and is used for being assembled in a groove at the corresponding position in the middle of the base body 12, the second part is designed in a spherical arc surface structure, the radial force of a certain degree received by the sensor assembly can be converted into the axial force by the design, and the radial deviation of the sensor assembly is avoided when the sensor assembly receives the external radial force. Elastic coupling body 13 and skin surface contact and transmit the pressure that muscle deformation produced for pressure sensor 11, because of elastic coupling body 13 can reduce sensor assembly's thickness through slight elastic deformation to prevent that sensor assembly from producing great oppression sense, improve use comfort under great pressure environment to human muscle. Meanwhile, due to the design of the elastic coupling body 13 and the boss, the stress of the pressure sensor 11 can be more uniform, and the influence of different conditions such as human subcutaneous fat distribution, muscle shape and wearing fabric on the measured data is prevented, so that the reliability and stability of the data acquired by the pressure sensor 11 are ensured.
The specific embodiment of the engagement structure is as follows: the elastic coupling body 13 has certain elasticity, and in the assembling process, can exert corresponding deformation to three meshing structure, place it and remove deformation after the recess of corresponding position in base member 12 middle part, the resilience characteristic of elastic coupling body 13 can make the meshing structure fix in corresponding the recess to fixed base member 12 and elastic coupling body 13, the even distribution of three meshing structure on the circumference has also restricted pressure sensor 11 at the drunkenness of radial direction, makes pressure sensor 11 and the boss of base member 12 have good axiality.
Further, as shown in fig. 5 to 9, the connecting rope tightening structure 14 includes a stepless transmission assembly, a constraint assembly and a top cover 1401, wherein the stepless transmission assembly includes a small diameter stepless transmission cone 1404, a stepless transmission shaft wheel 1406, a large diameter stepless transmission cone 1403 and a nut 1410, a rope loop 1411 is arranged above the small diameter stepless transmission cone 1404 for connecting with the connecting rope 21, and a small diameter rotation shaft 1405 is arranged below the small diameter stepless transmission cone 1404 for fixing the connecting rope on the base body 12; the small-diameter stepless transmission cone 1404 transmits with the large-diameter stepless transmission cone 1403 through the stepless transmission shaft wheel 1406, and meanwhile, the large-diameter stepless transmission cone 1403 is connected with the restraining component; a top cover 1401 is provided over the base 12 to provide partial support and protection for the various components of the cvt assembly and to secure the cvt pulley 1406 via a nut 1410. Through manual adjustment and rotation of the stepless transmission shaft wheel 1406, the relative meshing position of the stepless transmission shaft wheel 1406 and the two transmission cones can be adjusted, and then the transmission ratio of the corresponding large-diameter stepless transmission cone 1403 and the small-diameter stepless transmission cone 1404 is adjusted in a stepless manner, so that the fixed length ratio of the connecting rope 21 is adjusted, further the free connection between the sensor components is ensured, the fixed ratio distance is kept, meanwhile, required pressure is provided for the work of the pressure sensor 11, and sufficient pretightening force is still provided for different wearing people and the fixed measuring point position is kept without slippage.
The restraint assembly includes a ratchet spring 1409, a ratchet 1402, a ratchet hook 1407, and a ratchet hook spring 1408, wherein: a ratchet spring 1409 is connected with the bottom surface of the ratchet 1402 and is used for providing rebound torque for the ratchet 1402; the ratchet 1402 comprises ratchet teeth and a ratchet shaft, the ratchet teeth adopt a unidirectional tooth shape design and realize unidirectional rotation under the constraint of a ratchet hook 1407; the ratchet shaft is connected with a large-diameter stepless transmission cone 1403 through a key, so that the motion control of the transmission assembly is realized; a ratchet hook spring 1408 is connected to the ratchet hook 1407 for resetting the ratchet hook 1407 to release the restraint of the ratchet 1402. When the connecting rope 21 is put into the loop 1411, the ratchet wheel 1402 is rotated to drive the large-diameter stepless transmission cone 1403 to rotate, the one-way tooth-shaped design of the ratchet wheel 1402 pushes the ratchet wheel hook spring 1408 to compress, and after the connecting rope 21 reaches the corresponding length, the ratchet wheel 1402 stops rotating.
When the muscular movement signal is collected, the resilient force of the ratchet spring 1409 and the arm muscle indirectly generate a pulling force on the connecting rope 21, so that the connecting rope drives the rope loop 1411 to generate a reverse torque, thereby achieving the fixing and tightening effects on the connecting rope 21. At this time, the ratchet hook spring 1408 is in a normal state due to the reverse torque, and the ratchet hook 1407 is restricted by the groove of the base 12, thereby restricting the reverse rotation of the ratchet 1402. When it is desired to unload the sensor assembly, the ratchet hook spring 1408 can be manually compressed by pulling the long handle structure at the tail of the ratchet hook 1407 to release the ratchet restraint from the ratchet hook 1407, allowing the ratchet 1402 to return to the initial state under the reverse torque of the ratchet spring 1409, and releasing the connecting cord 21. Considering the uncertainty and the vibration of arm movement when measuring the muscular movement signal, the invention arranges 2-5 ratchet hooks 1407 and ratchet hook springs 1408 which are evenly distributed along the circumference to restrain the ratchet 1402 at the same time, namely the restraint can be released only by pulling the tail long handle structures of all the ratchet hooks 1407 at the same time, and the sensor assembly is unloaded, thereby greatly reducing the possibility that the sensor assembly falls off due to the mistaken touch of external factors on the tail long handle structures of the ratchet hooks 1407.
In a conventional myokinetic signal measurement experiment, a conventional force sensing signal measurement arm ring is made of stretchable fabric so as to realize the fixation of the relative position of the conventional measurement arm ring on the arm and the supply of back support force when the sensor works. However, the traditional force sensing signal measuring arm ring does not quantify the pressure generated by the connection of the elastic fabrics, and the influence of the elastic fabrics with different lengths and rigidities on the final data measurement result is not considered. Meanwhile, the partial protrusion formed by the arm muscle group during stretching and relaxation can reduce the base pressure of part of the sensors, so that the muscular movement signals cannot be measured normally. And the elastic fabric and the sensors are not integrated, when the traditional force sensing signal measuring arm ring is worn, the sensors are required to be fixed on the elastic fabric of the traditional measuring arm ring respectively and then installed on the arm, the wearing process is complicated, and a user is difficult to accurately align with a measuring point. According to the invention, the elastic fabric used for connecting and fixing in the traditional force sensing signal measuring arm ring is replaced by the connecting rope and the tension sensor. The connecting rope 21 is tightened and collected in the stepless transmission assembly, the transmission ratio in each direction is adjusted in a stepless mode, the proportional distance between the sensor assemblies can be further controlled through the one-way tightening effect of the restraining assembly, and the working pressure of the pressure sensor 11 is provided, and meanwhile the fact that the measuring point positions of different people wearing the device can be different from person to person can be guaranteed.
As shown in fig. 10, the pressure value generated by the arm muscle movement acts on the sensor assembly, so that the pressure sensor 11 generates a corresponding voltage value, the voltage value is amplified by the signal amplifier, and the signal is input into the computer for processing through the upper computer. The relevance analysis can be carried out on the point location and the motor signal transformation combination generated according to different actions, and the basis can be provided for the selection of the measuring point by recording the intention recognition accuracy rate under the motor signal transformation combination corresponding to different actions.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (6)
1. The utility model provides a distributing type arm power sensing signal pickup assembly, its characterized in that, the device includes sensing unit (1) and linkage unit (2), wherein:
the sensing unit comprises a preset number of sensor components, and when the sensing unit is used, each sensor component is respectively arranged on different measuring points of the arm so as to collect muscular movement signals at different positions for identifying movement intentions;
the connecting unit (2) comprises a preset number of connecting ropes (21) and tension sensors (22), two ends of each connecting rope (21) are respectively connected with the sensor assemblies to achieve connection and fixation of the sensor assemblies, each sensor assembly comprises a connecting rope tightening structure (14), each connecting rope tightening structure (14) comprises a stepless transmission assembly, a constraint assembly and a top cover (1401), each stepless transmission assembly comprises a small-diameter stepless transmission cone (1404), a stepless transmission shaft wheel (1406), a large-diameter stepless transmission cone (1403) and a nut (1410), a rope loop (1411) is arranged above each small-diameter stepless transmission cone (1404) and used for being connected with the connecting ropes (21), and a small-diameter rotating shaft (1405) is arranged below each small-diameter stepless transmission cone (1404) and used for fixing the small-diameter stepless transmission cones on the base body (12); the small-diameter stepless transmission cone (1404) is in transmission with the large-diameter stepless transmission cone (1403) through the stepless transmission shaft wheel (1406), meanwhile, the large-diameter stepless transmission cone (1403) is connected with the restraining component, and when the large-diameter stepless transmission cone works, the restraining component is used for controlling the large-diameter stepless transmission cone (1403) to rotate, so that the connecting rope (21) is tightened and released through the transmission of the stepless transmission shaft wheel (1406); the top cover (1401) is arranged above the base body (12) and fixes the stepless transmission shaft wheel (1406) through a nut (1410); the restraint assembly includes a ratchet spring (1409), a ratchet (1402), a ratchet hook (1407), and a ratchet hook spring (1408), wherein: the ratchet spring (1409) is connected with the bottom surface of the ratchet wheel (1402) and is used for providing rebound torque for the ratchet wheel (1402); the ratchet wheel (1402) comprises ratchet wheel teeth and a ratchet wheel shaft, the ratchet wheel teeth adopt a one-way tooth profile design, and realize one-way rotation under the constraint of the ratchet wheel hook (1407); the ratchet shaft is connected with a large-diameter stepless transmission cone (1403) through a key, so that the motion control of the transmission assembly is realized; the ratchet hook spring (1408) is connected with the ratchet hook (1407) and is used for resetting the ratchet hook (1407) to release the constraint of the ratchet wheel (1402); meanwhile, a tension sensor (22) is arranged on the connecting rope (21) and used for converting tension on the connecting rope (21) into an electric signal and collecting the electric signal, so that the tension signal is utilized to assist in recognizing the movement intention.
2. The distributed arm force sensing signal acquisition device according to claim 1, wherein each sensor assembly further comprises a pressure sensor (11), a boss is arranged below the base body (12) and connected with the pressure sensor (11), and a connecting rope tightening structure (14) is connected above the base body (12); when in use, the pressure sensor (11) is tightly attached to an arm measuring point and used for collecting a muscular movement signal of arm muscles; the connecting rope tightening structure (14) is connected with the connecting rope (21) and used for tightening the connecting rope (21).
3. The distributed arm force sensing signal acquisition device according to claim 2, wherein each sensor assembly further comprises an elastic coupling body (13), wherein the elastic coupling body (13) is arranged below the pressure sensor (11) and is used for providing a supporting force for the pressure sensor (11).
4. The distributed arm force sensing signal acquisition device according to claim 1, wherein the number of ratchet hooks (1407) in the constraint component is 2 to 5.
5. The distributed arm force sensing signal acquisition device according to claim 1, wherein the number of the sensor components in the sensing unit is 8 to 16.
6. The distributed arm force sensing signal acquisition device according to any one of claims 1 to 5, wherein the determination method of the installation position of the sensor assembly comprises the following steps: the method comprises the steps of measuring and analyzing global muscle signals of arm movement under different actions by utilizing a plurality of muscle signal measuring arm rings which are uniformly distributed in the axial direction of an arm, determining the most active muscle under different actions, and taking the most active muscle as the optimal measuring point of a distributed arm force sensing signal acquisition device.
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