CN113639951A - Dummy device with individualized and adjustable body segment and joint characteristics - Google Patents
Dummy device with individualized and adjustable body segment and joint characteristics Download PDFInfo
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- CN113639951A CN113639951A CN202110831785.7A CN202110831785A CN113639951A CN 113639951 A CN113639951 A CN 113639951A CN 202110831785 A CN202110831785 A CN 202110831785A CN 113639951 A CN113639951 A CN 113639951A
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
Abstract
The invention discloses a dummy device with individualized and adjustable body segment and joint characteristics, which comprises a simulation body segment (1) and a simulation joint (2), wherein the simulation body segment (1) comprises a straight cylinder (11) and a counterweight seat (12), the counterweight seat (12) is clamped on the cylinder surface of the straight cylinder (11), the counterweight seat (12) can be clamped on different positions of the cylinder surface of the straight cylinder (11), and a spring (23) is arranged in the simulation joint (2) to ensure that the joint has certain torque rigidity. The dummy device with the individually adjustable body segments and joint characteristics, disclosed by the invention, can adjust the inertia parameters of different body segments, including the rotational inertia coefficient matrix of each body segment and the torsional rigidity of the joint, and can simulate the motion characteristics and the mechanical reaction of a musculoskeletal system of a real person when the real person is impacted.
Description
Technical Field
The invention relates to the field of dummy testing devices, in particular to a dummy device with individualized and adjustable body segment and joint characteristics.
Background
The research of the dummy device mainly comprises the reproduction of the inertial parameters of human body segments, the description of the dynamic characteristics of joint skeletons and muscles and the personalized simulation of different individuals. There are currently more widely used serial III Hybrid prostheses developed in the United states, and DOTSID side impact prostheses in the United states, European side impact prostheses (Eurosid I), and subsequent frontal impact prostheses, side impact prostheses, and throw or roll over prostheses, among others.
The existing dummy is designed based on the statistical data of basic parameters of human body, has anthropomorphic basic structures such as rigid skeleton, soft tissue skin and the like, and evaluates the injury degree of passengers by testing the acceleration, displacement and stress of each position of the dummy. However, no matter the existing dummy equipment such as the automobile safety dummy, the air ejection lifesaving dummy or the paratrooper simulation dummy is used, when a crowd with large body characteristic parameter difference is simulated, the simulation with high personalized degree can not be realized by adjusting the dummy, but the simulation is realized by adopting measures of replacing different position division dummy, for example, 1 percent, 50 percent and 99 percent dummy in the Hybrid III series are all statistical people. Hybrid III 50 percentile dummy commonly used for simulating Chinese male human bodies at present summarizes the physical characteristics of a class of human bodies inaccurately, and the human bodies simulated by the same quantile dummy have large differences, such as body segment length, weight, moment of inertia and joint mechanical characteristics during movement.
The existing dummy is a static human body model established from the biomedical perspective, only reproduces the geometric length and the mass characteristics of a human body segment, and cannot reflect the rotational inertia of the human body segment; lack of objective and accurate description of the dynamic characteristics of joints of a real human body in the collision process; personalized simulation for a specific real human body cannot be performed.
The dummy is the most important part in the testing link, and whether the dummy structure can accurately simulate the inertia parameters of the human body directly influences whether the testing result is consistent with the real human body condition. In order to individually simulate the inertia parameters of different individuals, it is important to be able to reflect the rotational inertia of a body segment, a body segment with adjustable inertia parameters and a dummy with variable-rigidity joints.
For the reasons, aiming at the problems existing in the design of the existing dummy model, the dummy device capable of reproducing personalized human body characteristics by adjusting the inertia parameters of the body sections and the joint rigidity is designed.
Disclosure of Invention
In order to overcome the problems, the inventor carries out deep research and designs a real and personalized dummy device, the device can adjust different body segment inertia parameters and joint torsional rigidity aiming at different people, can reflect the rotational inertia of the body segment, can reproduce the mechanical behavior of the musculoskeletal system of the real person when the real person is impacted to a certain extent, is feasible and credible, and has research value.
In particular, in one aspect, the invention provides a dummy device with individualized and adjustable body segment and joint characteristics, which comprises a dummy body segment 1 and a dummy joint 2,
the simulated body segment 1 is used for simulating rigid bones, and the simulated joint 2 is used for connecting different body segments and simulating joint rotation movement.
Further, the simulator body section 1 comprises a straight cylinder 11 and a counterweight seat 12, wherein the counterweight seat 12 is connected to the cylinder surface of the straight cylinder 11 in a clamping manner, and the counterweight seat 12 can be connected to different positions of the cylinder surface of the straight cylinder 11 in a clamping manner.
Preferably, the counterweight housing 12 comprises a base 121 and a counterweight ring 122, the counterweight ring 122 is fixed on the base 121, the counterweight ring 122 has a plurality of models, and the masses of the counterweight rings 122 of different models are different, so as to realize the adjustment of the rotational inertia of the simulator body segment 1 in the mass, X-axis and Y-axis directions.
Further preferably, the counterweight ring 122 is annular, the different counterweight rings 122 have different outer diameters, and the adjustment of the moment of inertia of the simulator body segment 1 in the Z-axis direction is realized by replacing the different counterweight rings 122.
In a preferred embodiment, the base 121 includes two half ring-shaped clips 1211, and bolt holes are formed at the end positions of the half ring-shaped clips 1211, so that the two half ring-shaped clips 1211 can be fixedly connected into a ring shape by bolts to be clamped on the cylindrical surface of the straight cylinder 11.
In a preferred embodiment, the straight cylinder 11 comprises an upper straight cylinder 111 and a lower straight cylinder 112, and a corresponding internal thread section and an external thread section 1121 are arranged at the connecting end of the upper straight cylinder 111 and the lower straight cylinder 112, so that the upper straight cylinder 111 and the lower straight cylinder 112 can be connected through a thread, and the length of the straight cylinder 11 can be adjusted by adjusting the screwing length of the thread.
According to the invention, the simulated joints 2 comprise one-degree-of-freedom joints, two-degree-of-freedom joints and three-degree-of-freedom joints,
the one degree-of-freedom joint includes a first rotation base 21, a second rotation base 22, and a spring 23, and has a pin hole 211 at the bottom of the first rotation base 21 and the top of the second rotation base 22, so that the first rotation base 21 and the second rotation base 22 can be combined together and rotated around the pin hole 211 axis,
one end of the spring 23 is fixed on the top end of the first rotating base 21, and the other end is fixed on the bottom end of the second rotating base 22, so that the joint has a certain torque.
According to the present invention, the first rotating base 21 or the second rotating base 22 is provided with an elongated spring groove 24, and one end of the spring 23 is placed in the spring groove 24 and can slide along the spring groove 24.
According to the invention, on the basis of a one-degree-of-freedom joint, a universal joint 25 is added to obtain a two-degree-of-freedom joint, wherein the universal joint 25 is arranged at the top end of the first rotating base 21 or the bottom end of the second rotating base 22;
the three-degree-of-freedom joint is a combination of a two-degree-of-freedom joint and a one-degree-of-freedom joint.
In another aspect, the invention also provides a dummy method for individually adjusting body segments and joint features, preferably by using the apparatus according to any one of claims 1 to 9,
the method comprises the following steps:
s1, obtaining personalized parameters of the human body to be simulated;
s2, adjusting the dummy device according to the personalized parameters;
and S3, placing the dummy in an environment to be tested for testing, and collecting test data.
The invention has the advantages that:
(1) the individualized adjustable design of the body segment of the invention, through extracting the human body inertia parameter calculated, to the biomechanical characteristics such as body segment length and joint of the person to be measured, carry on the accurate test to the dummy with this person's individualized parameter, solve the problem that the dummy needs to change and use different types of dummy when simulating the crowd with greater difference body characteristic at present, and can't reproduce the body segment moment of inertia effectively, have realized the individualized simulation to the specific human body, and has improved the biological simulation degree of the dummy, has improved the efficiency, lower costs, make the dummy can substitute the specific person to be measured to carry on the individualized test of this person;
(2) the test method based on the dummy can accurately describe the problems of dynamic change and collision injury of real human in collision in actual movement, and the design of the variable-rigidity joint can reflect the protection posture of the human in collision;
(3) the conditions of active collision and passive collision of a human body are better simulated by adjusting the position of the spring in the spring groove and replacing the spring with different elastic coefficients, wherein the rigidity of the joint of the dummy is adjusted to a larger value when the artificial is in active collision such as jump-depth landing; in the absence of an expected passive collision, the dummy joint stiffness is adjusted to a small value.
Drawings
FIG. 1 is a schematic diagram showing the overall structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view showing a straight-tube sectional structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
fig. 3 shows an exploded view of a straight-tube structure of a prosthetic device with individualized and adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a one-degree-of-freedom joint structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a two-degree-of-freedom joint structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of a three-degree-of-freedom joint structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a prosthetic device gimbal with individualized and adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 8 is a schematic diagram of a two-degree-of-freedom joint structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
FIG. 9 is a schematic diagram of a three-degree-of-freedom joint structure of a prosthetic device with individually adjustable body segments and joint features according to a preferred embodiment of the present invention;
fig. 10 shows a schematic view of the connection structure of the prosthetic device universal joint and the first rotary base with individually adjustable body segment and joint feature according to a preferred embodiment of the present invention.
The reference numbers illustrate:
1-a phantom section;
11-straight cylinder;
111-upper straight cylinder;
112-lower straight cylinder;
1121-external thread section;
113-a gasket;
114-a rotation hole;
12-a counterweight seat;
121-a base;
122-counterweight ring;
1211-a semi-annular clip;
14-an end plate;
141-end face bolt holes;
2-simulated joints;
21-a first rotating base;
211-pin holes;
22-a second rotating base;
221-an arc-shaped groove;
23-a spring;
24-a spring groove;
25-a universal joint;
251-a spring hanger;
252-a bearing;
253-a first runner block;
254-second runner block;
255-a chute;
256-a second spring;
26-torsion spring;
27-a middle end face;
3-silica gel sheath.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The dummy device with the individualized and adjustable body segment and joint characteristics comprises a simulation body segment 1 and a simulation joint 2, wherein the simulation body segment 1 and the simulation joint 2 can be provided with a plurality of parts so as to simulate different parts.
The simulated body segment 1 is used to simulate a rigid bone and the simulated joint 2 is used to connect different body segments, simulating joint rotational movement, as shown in fig. 1.
The simulator body segment 1 comprises a straight cylinder 11 and a counterweight seat 12, as shown in fig. 2 and 3, the counterweight seat 12 is clamped on the cylinder surface of the straight cylinder 11, and the counterweight seats 12 with different masses are clamped at different positions of the straight cylinder 11, so that the mass and the rotational inertia of the simulator body segment can be adjusted, and rigid bones with different masses and rotational inertias can be simulated.
In the present invention, for convenience of description, the orientation or position is described based on the state shown in fig. 3, the up-down direction in fig. 3 is referred to as the Z-axis direction, and the two directions in the horizontal direction determined by the right-hand principle are the X-axis and the Y-axis, respectively.
Further, the prosthetic device may have a plurality of phantom body segments 1 therein, the plurality of phantom body segments 1 having different masses of the cylinder 11 and the weight holder 12,
further, the cylinder diameter and mass of different cylinders 11 may be different to simulate different areas of rigid bone.
In a preferred embodiment, the weight seat 12 includes a base 121 and a weight ring 122, the base 121 is clamped on the cylindrical surface of the straight cylinder 11, the weight ring 122 is fixed on the base 121, the weight ring 122 can have multiple models, and the weights of the weight rings 122 are different, so as to adjust the weight of the weight seat 12 to meet the mass requirements of different body sections.
Further preferably, the counterweight ring 122 is annular, the outer diameters of different counterweight rings 122 are different, and the adjustment of the moment of inertia of the simulator body segment 1 in the Z-axis direction can be realized by replacing different counterweight rings 122.
In a preferred embodiment, the base 121 includes two semi-annular clips 1211, the inner diameter of the semi-annular clips 1211 is not greater than the outer diameter of the straight cylinder 11, and bolt holes are provided at the end positions of the semi-annular clips 1211, so that the two semi-annular clips 1211 can be fixedly connected into a ring shape by bolts to be clamped on the surface of the straight cylinder 11, and further, the tightness of screwing the bolts can be adjusted to adapt to straight cylinders 11 with different outer diameters.
Further, by adjusting the position where the pedestal 121 is held on the straight cylinder 11, the position of the center of mass of the phantom section 1 and the adjustment of the rotational inertia in the X or Y axis can be adjusted.
According to the invention, because the straight cylinder 11 is cylindrical and the rotary body is designed, the moment of inertia on the X, Y axis is basically the same, and only one adjustment is needed.
In a preferred embodiment, the counterweight ring 122 has bolt holes, and counterbores are provided at corresponding positions on the base 121, so that the counterweight ring 122 can be fixed on the base 121 by bolts.
Further, there are a plurality of bolt holes on the weight ring 122 and a plurality of counter bores on the base 121, and preferably there are 4 bolt holes on the weight ring 122 and the counter bores on the base 121, so that the weight ring 122 and the base 121 are more firmly fixed.
In a preferred embodiment, the straight cylinder 11 comprises an upper straight cylinder 111 and a lower straight cylinder 112, and a corresponding internal thread section and an external thread section 1121 are arranged at the connecting end of the upper straight cylinder 111 and the lower straight cylinder 112, so that the upper straight cylinder 111 and the lower straight cylinder 112 can be connected through threads, and the length of the straight cylinder 11 can be adjusted by adjusting the screwing length, thereby simulating rigid bones with different lengths.
In a preferred embodiment, the outer diameter of the external thread 1121 of the upper straight cylinder 111 or the lower straight cylinder 112 is smaller than the outer diameter of the upper straight cylinder 111 or the lower straight cylinder 112, the straight cylinder 11 further includes a washer 113, the inner diameter of the washer 113 is the same as the outer diameter of the external thread of the upper straight cylinder 111 or the lower straight cylinder 112, the outer diameter of the washer 113 is the same as the outer diameter of the upper straight cylinder 111 or the lower straight cylinder 112, and the length of the external thread 1121 is filled by sleeving one or more washers 113 on the external thread segment 1121, so as to achieve the effect of changing and fixing the length of the straight cylinder 11.
It is further preferable that the outer diameters of the upper straight cylinder 111 and the lower straight cylinder 112 are the same, and the materials are the same, so that the center of mass of the straight cylinder 11 is located at the middle point, which facilitates the adjustment of the position of the center of mass of the simulator segment 1 in the later period.
In a more preferred embodiment, the upper and lower straight cylinders 111 and 112 have rotation holes 114, and a rod-like object such as a straight rod is inserted into the rotation hole 114 to facilitate the fastening between the upper and lower straight cylinders 111 and 112.
According to the present invention, the straight cylinder 11 has end plates 14 at both ends thereof, and is connected to the dummy joint 2 via the end plates 14.
The simulation body segment 1 according to the present invention can simulate a head and neck body segment, an upper torso body segment, a lower torso body segment, a double-sided upper arm body segment, a double-sided forearm body segment, a double-sided hand body segment, a double-sided upper leg body segment, a double-sided lower leg body segment, a double-sided foot body segment, and a total of 15 body segments.
The simulation joint 2 comprises a one-degree-of-freedom joint, a two-degree-of-freedom joint and a three-degree-of-freedom joint,
the one-degree-of-freedom joint includes a first rotating base 21, a second rotating base 22, and pin holes 211 are formed at the bottom of the first rotating base 21 and the top of the second rotating base 22, so that the first rotating base 21 and the second rotating base 22 can be combined together and rotate around the pin holes 211 axis, thereby realizing the function of the joint rotating in one degree of freedom for simulating the joint motion requiring only one degree of freedom in the design of a dummy such as a knee, an elbow, etc., as shown in fig. 4.
Preferably, the top end of the first rotating base 21 and the bottom end of the second rotating base 22 are circular in cross section, so that the whole joint is balanced in stress.
Further, the simulated joint 2 further comprises a spring 23, wherein one end of the spring 23 is fixed at the top end of the first rotating base 21, and the other end is fixed at the bottom end of the second rotating base 22, so that the joint has a certain torque.
Preferably, the spring 23 has a plurality of strips, such as 2 strips, 4 strips, etc., to increase the torque value of the joint and reduce the requirement for the spring.
In a preferred embodiment, the bottom of the first rotating base 21 and/or the top pin hole 211 of the second rotating base 22 are bearings, and the bearings replace the common pin holes, so that the friction between the first rotating base 21 and the second rotating base 22 is reduced, the two are easier to rotate relatively, and the simulation accuracy is improved.
In a preferred embodiment, an elongated spring slot 24 is provided on the first rotating base 21 or the second rotating base 22, and one end of the spring 23 is placed in the spring slot 24 and can be fixed at any position of the spring slot 24, so as to realize simulation of the adjustability of the rotational stiffness of the joint.
For individuals needing simulation by different dummy, under different working conditions, the torque generated at the joint is different, for example, people with different weights jump down from different heights, the joint rotation rigidity values of the knee joint are all different, and for example, when collision occurs under the condition of no preparation, the joint rotation rigidity is small, the effect of buffering impact through joint flexion and extension is small, and in the case of prepared collision, the joint rotation rigidity is large, and the effect of buffering impact through joint flexion and extension is large. Because the joint rotation rigidity values under different working conditions are greatly different, the joint rotation rigidity of the dummy needs to be adjusted when the actual working condition is simulated.
Furthermore, when the human body is impacted by the outside, the joint can be bent and stretched passively to buffer the joint rotation rigidity value of the external impact.
Furthermore, when the rotation stiffness of the joints of the two simulated dummy bodies is greatly different and needs to be adjusted in a large range, the adjustment is carried out by replacing springs with different elastic coefficients; when the difference of the rotational stiffness of the joints of the two dummy bodies is large and the adjustment in a small range is needed, the position of the spring in the spring groove is moved, so that the extension amount of the spring is different when the joints rotate at the same angle, and different rotational stiffness of the joints is obtained.
In the present invention, the specific structure for sliding the end of the spring 23 along the spring slot 24 is not particularly limited as long as the above function can be achieved, for example, a slider is disposed in the spring slot 24, and the end of the spring 23 is fixedly connected with the slider.
Further preferably, the number of the springs 23 and the number of the spring grooves 24 are two, and the two elongated spring grooves 24 are parallel to the rotation direction of the simulated joint 2, so that the two springs 23 can slide along the rotation direction of the joint, thereby respectively simulating two groups of muscles contracted during the flexion and extension movements of the joint.
In the invention, the torsion rigidity adjustment in a small range can be realized through the relative sliding of the spring 23 in the spring groove 24, and the human body rotation rigidity can be accurately simulated by only replacing springs with different elastic coefficients.
In a preferred embodiment, the end face bolt hole 141 is provided on the end plate 14 of the phantom section 1, said end plate 14 being rotatable about the axis of the straight cylinder 11;
on the top end of the first rotating base 21 and the bottom end face of the second rotating base 22, there are provided annular arc-shaped grooves 221, and the positions of the arc-shaped grooves 221 correspond to those of the end face bolt holes 141.
When the length is closed soon to the screw thread that changes the muffjoint department, the rotation of screw thread section can change straight section of thick bamboo and articulated connection's direction, still can correspond with terminal surface bolt hole 141 through arc wall 221 this moment, uses bolted connection to fix both, realizes the fixed connection of straight section of thick bamboo and joint.
In a more preferred embodiment, the end plate 14 has a circular groove, and the top end of the first rotating base 21 and the bottom end of the second rotating base 22 have corresponding protrusions, so that the connection between the simulator body segment 1 and the simulator joint 2 is more stable by the engagement of the protrusions and the grooves.
The structure only realizes the simulation of the joint with one degree of freedom, and on the basis, the universal joint is added to increase one degree of freedom of torsion, thereby realizing the simulation of the joint with two degrees of freedom, and realizing the simulation of the relative motion of a shoulder joint and a hip joint with larger degree of freedom.
The two-degree-of-freedom joint comprises a universal joint 25, wherein the universal joint 25 is installed at the top end of the first rotating base 21 or the bottom end of the second rotating base 22, and the motion of two degrees of freedom of the joint is realized.
In a preferred embodiment, the universal joint 25 has a bearing 252 at the bottom, and the inner diameter of the bearing is fitted on the protrusion at the top end of the first rotating base 21 or the bottom end of the second rotating base 22, so that the universal joint 25 can rotate along the central axis of the first rotating base 21 or the second rotating base 22, as shown in fig. 5 and 7.
In a preferred embodiment, there are projections on the top of the universal joint 25, which correspond to grooves in the end of the straight cylinder, so that the universal joint 25 can be fixedly connected to the straight cylinder.
Preferably, the simulation joint 2 further comprises a torsion spring 26, one end of the torsion spring is fixed on the universal joint 25, the other end of the torsion spring is fixed on the first rotating base 21 or the second rotating base 22 connected with the universal joint 25, and the influence on the rotational rigidity of the joint can be realized by replacing torsion springs 26 with different rigidities.
In a more preferred embodiment, the universal joint 25 is cylindrical, a spring hanging lug 251 is disposed on a cylindrical surface of the universal joint 25, a spring locking groove is disposed on an end portion of the first rotating base 21 or the second rotating base 22 connected to the universal joint 25, and two ends of the torsion spring 26 are respectively fixed on the spring hanging lug 251 and the spring locking groove.
In another embodiment, as shown in fig. 8 to 10, a first sliding groove block 253 is arranged inside the universal joint 25; a second sliding groove block 254 is arranged at the end of the first rotating base 21 or the second rotating base 22, and the simulated joint 2 further comprises a second spring 256.
The first and second runner blocks 253 and 254 are connected by a second spring 256, so that the universal joint 25 has rotational rigidity with respect to the first rotating base 21 or the second rotating base 22.
More preferably, the first sliding channel block 253 and the second sliding channel block 254 are both provided with an elongated sliding channel 255, one end of the second spring 256 is fixedly arranged in the sliding channel 255 of the first sliding channel block 253, and the other end is fixedly arranged in the sliding channel 255 of the second sliding channel block 254.
Due to the design, the rotation stiffness between the universal joint 25 and the first rotating base 21 or the second rotating base 22 can be adjusted by replacing springs with different stiffness, and can also be adjusted by adjusting the fixed position of the end of the second spring 256 in the sliding groove 255, and particularly when the rotation stiffness between the universal joint 25 and the first rotating base 21 or the second rotating base 22 needs to be fine-adjusted, the rapid adjustment can be completed by only adjusting the fixed position of the end of the second spring 256 in the sliding groove 255.
In the present invention, a specific manner of fixing the second spring 256 in the sliding groove 255 is not particularly limited, and a person skilled in the art may fix the second spring as needed, for example, by clamping with a bolt.
Preferably, the length direction of the sliding groove 255 is directed to the position of the center of the universal joint 25 from the circumferential direction of the universal joint 25, so that the adjustment range of the rigidity is wider.
Preferably, the first sliding groove block 253 has a plurality of, for example, two, which are uniformly distributed in the annular circumference of the universal joint 25 as shown in fig. 10, and correspondingly, the number of the second sliding groove block 254 and the second spring 256 is the same as that of the first sliding block 253, so that the joint is more stable in rotation.
According to the invention, the joint with three degrees of freedom can be obtained by combining the joint with one degree of freedom and the joint with two degrees of freedom, so as to realize the simulation of the variable-rigidity joint for the joint motion of the neck and the spine.
The three-degree-of-freedom joint is a combination of a two-degree-of-freedom joint and a one-degree-of-freedom joint.
Specifically, the bottom end of the two-degree-of-freedom joint is fixedly connected to the top end of the one-degree-of-freedom joint, for example, by a bolt, and the rotation direction of the pin hole 211 of the two-degree-of-freedom joint is perpendicular to the rotation direction of the pin hole 211 of the one-degree-of-freedom joint, as shown in fig. 6.
In a more preferred embodiment, the bottom end of the two-degree-of-freedom joint and the top end of the one-degree-of-freedom joint are the same end surface, which is called as the middle end surface 27, so that the overall thickness of the three-degree-of-freedom joint is reduced, and the mechanical strength of the three-degree-of-freedom joint is improved.
In a more preferred embodiment, the top end of the universal joint 25 has a circular groove with an inner diameter corresponding to the protrusion of the top end of the first rotating base 21 or the bottom end of the second rotating base 22, so that a plurality of three-degree-of-freedom joints can be connected to each other to simulate the whole cervical vertebra and lumbar vertebra.
According to the invention, the simulated joint 2 can simulate 14 joints in total, namely a neck joint, a waist joint, a bilateral hip joint, a bilateral knee joint, a bilateral ankle joint, a bilateral shoulder joint, a bilateral elbow joint and a bilateral wrist joint.
According to the present invention, the outer sides of the simulated body segment 1 and the simulated joint 2 are further wrapped with a silica gel outer skin 3, and the size and thickness of the silica gel outer skin can be freely designed by those skilled in the art according to actual needs, which is not particularly limited in the present invention.
The dummy device with the individualized and adjustable body segment and joint characteristics further comprises a measurement and control unit, wherein the measurement and control unit comprises one or more of an acceleration sensor, an angular acceleration sensor and a force sensor.
The acceleration sensor is arranged on a body section of the dummy to be tested, measures the acceleration variation of the body section of the dummy under the actual working condition, and is preferably a piezoresistive acceleration sensor;
the angular acceleration sensor is arranged on a body segment which rotates around the joint in a dummy test and is used for measuring the torsional angular acceleration variation of the joint;
the force sensor is arranged on a dummy body section which is in contact with the outside and is used for measuring the external load born by the dummy in collision; and/or
The force sensor is arranged at the joint where the body segment is connected and used for measuring the torque generated in the process of joint torsion.
In the present invention, the specific types of the acceleration sensor, the angular acceleration sensor, and the force sensor are not particularly limited, and those skilled in the art can select the acceleration sensor, the angular acceleration sensor, and the force sensor according to actual needs.
In the present invention, the specific mounting manner of the acceleration sensor, the angular acceleration sensor, and the force sensor is not particularly limited, and may be bonding by an adhesive, binding by a rope, snap-fitting by a snap, or the like.
On the other hand, the invention also provides a dummy testing method with individualized and adjustable body segment and joint characteristics, which comprises the following steps:
s1, obtaining personalized parameters of the human body to be simulated;
s2, adjusting the dummy device according to the personalized parameters;
and S3, placing the dummy in an environment to be tested for testing, and collecting test data.
In step S1, the simulation parameters include length, mass, centroid position, moment of inertia of the human body segment to be simulated, and rotational stiffness of the human body joint to be simulated;
in the present invention, the method for obtaining the simulation parameters is not particularly limited, and those skilled in the art can obtain the simulation parameters by any known method.
In step S2, the adjustment dummy device includes:
adjusting the length of the simulator body segment 1 to make the length of the straight cylinder 11 the same as that of the human body segment to be simulated;
adjusting the rotational inertia of the Z axis of the simulation body segment 1 to ensure that the rotational inertia of the Z axis of the simulation body segment 1 is the same as the rotational inertia of the Z axis of the human body segment to be simulated;
adjusting the mass of the simulator body segment 1 to ensure that the mass of the simulator body segment 1 is the same as that of the human body segment to be simulated;
adjusting the position of the counterweight seat 12 in the simulator body segment 1 to ensure that the position of the mass center of the simulator body segment 1 is the same as that of the body segment to be simulated, and the rotational inertia of the X-axis or the Y-axis is the same as that of the body segment to be simulated;
the elastic coefficient of the spring in the simulated joint 2 is changed, so that the rigidity of the simulated joint 2 is the same as the rotation rigidity of the human body joint to be simulated.
The spring coefficient of the spring in the simulated joint 2 is changed by replacing springs with different spring coefficients and/or adjusting the position of the spring in the spring groove, so that the rotation rigidity of the joint is changed.
Furthermore, according to the invention, the spring is fixed at different positions of the spring groove, and the distance from the spring to the center of the joint rotating shaft is changed, so that the elastic coefficient of the spring is changed, and the rigidity of the simulated joint is the same as the rotation rigidity of the human body joint to be simulated.
When the fixed position of the adjusting spring in the spring groove can not enable the rigidity of the simulated joint to be the same as the rotating rigidity of the human body joint to be simulated, the spring with different elastic coefficients is replaced, and the position of the spring in the spring groove is adjusted, so that the rigidity of the simulated joint is the same as the rotating rigidity of the human body joint to be simulated. Further, the stiffness M of the simulated joint 2 is expressed as:
M＝dikiΔLi
wherein d isiDenotes the distance, k, of the fixed end of the spring to the centre of rotation of the jointiDenotes the muscle elastic coefficient,. DELTA.LiRepresenting the amount of change in effective length of the muscle.
Further, the effective muscle length is expressed as:
wherein, Xi1，Xi2Representing the start-stop coordinates of the x-axis direction; y isi1，Yi2Representing the start-stop coordinates of the y-axis direction; zi1，Zi2Denotes the start-stop coordinate, X, of the z-axis directioni1，Xi2，Yi1，Yi2，Zi1，Zi2The value of (b) can be obtained by human nuclear magnetic resonance experiments.
The nuclear magnetic resonance experiment is to shoot a nuclear magnetic resonance image of a human joint movement process to be simulated, and obtain the variation of muscles related to the joint movement in the nuclear magnetic resonance image, preferably, the variation is obtained through the variation of pixel points in the image.
The muscle elastic coefficient is expressed as:
ki＝(Si·Li)·k0/(S0·L0)
wherein k is0Represents the elasticity coefficient of gastrocnemius; s0Representing the physiological cross-sectional area of gastrocnemius; l is0Represents the effective length of gastrocnemius; siRepresenting the physiological cross-sectional area of the muscle; l isiRepresenting the effective length of the muscle.
Preferably, before adjusting the length of the phantom section 1, a straight cylinder 11 of similar diameter to the bone of the phantom section to be simulated is selected for the assembly of the prosthesis.
Preferably, in the process of adjusting the length of the simulator segment 1, the length of the straight cylinder 11 is adjusted by adjusting the screwing length between the upper straight cylinder 111 and the lower straight cylinder 112, so as to adjust the length of the simulator segment 1.
More preferably, a washer 113 with a suitable thickness is sleeved on the external thread segment 1121 to fill the length of the external thread segment 1121, so that the adjusted screwing length of the thread is not easy to change, and the reduction of data accuracy in the subsequent testing process is avoided.
According to the invention, in the process of adjusting the moment of inertia of the phantom body section 1, this is achieved by selecting counterweight rings 122 of different outer diameters, the larger the outer diameter of the counterweight ring 122, the larger the moment of inertia of the phantom body section 1.
Further, in the process of adjusting the mass of the simulation body section 1, the straight cylinder 11 and the counterweight ring 122 with appropriate mass are selected, so that the total mass of the straight cylinder 11, the counterweight seat 12 and the silica gel outer skin 3 wrapped outside is the same as the mass of the human body section to be simulated.
Preferably, in the process of adjusting the position of the counterweight seat 12 in the simulator body segment 1, the adjustment of the position of the counterweight seat 12 relative to the straight cylinder 11 is realized by adjusting the position of the pedestal 121 clamping the cylindrical surface of the straight cylinder 11, so as to adjust the position of the center of mass of the simulator body segment 1.
Preferably, in the process of adjusting the elastic coefficient of the spring in the simulated joint 2, the adjustment of the torsional rigidity of the simulated joint 2 is realized by replacing the spring 23 with different elastic coefficients and/or replacing the torsion spring 26 with different elastic coefficients, so that the rotational rigidity of the joint degree of freedom is the same as the rotational rigidity of the human body joint to be simulated in the degree of freedom.
In step S3, the method includes the steps of:
installing a sensor at a position to be detected;
and placing the dummy in an environment to be measured, applying real working condition load, and collecting data output by each sensor.
The acceleration sensor is arranged on the outer side of the analog body section, the angular acceleration sensor is arranged on the body section rotating around the joint, and the force sensor is arranged on the analog body section of the dummy contacting with the outside or arranged at the joint of the analog body section.
Examples
Example 1
Simulating the right thigh and the lower leg of a human body.
Obtaining the length, the mass, the centroid position and the rotational inertia of the right thigh of the human body and the length, the mass, the centroid position and the rotational inertia of the shank through the medical image; the rotational stiffness of the human knee flexion under impact was measured according to the experimental method in the paper [ incorporated core stability is associated with reduced knee angle reduction single-leg plating tasks: investing Lumbar spine and hip joint rotational stiffness. J Biomech,2021,116:110240 ].
In the thigh simulator segment, a straight cylinder simulated thigh segment with a diameter similar to that of a thigh bone is selected, the length of the straight cylinder 11 is respectively the same as that of the thigh bone by adjusting the screwing length between the upper straight cylinder 111 and the lower straight cylinder 112, and a gasket 113 with a proper thickness is sleeved on the external thread segment 1121 to fill the length of the external thread segment 1121.
Selecting a counterweight ring 122 with proper weight and external diameter, clamping the counterweight ring 122 on the cylindrical surface of the straight cylinder 11 through a base 121, so that the rotational inertia of Z-axis centering of the simulation body section is the same as the rotational inertia of Z-axis of thighs, and the total mass of the straight cylinder 11, the counterweight seat 12 and the silica gel outer skin wrapped on the outer side is the same as the mass of thighs of a human body to be simulated;
further, the clamping position of the base 121 is adjusted so that the position of the center of mass of the phantom section is the same as the position of the center of mass of the thigh, and the rotational inertia of the X axis or the Y axis is the same as the rotational inertia of the thigh of the X axis or the Y axis;
obtaining a shank simulator section by adopting the same operation;
a thigh simulator section and a shank simulator section are connected by a joint with one degree of freedom, the joint rotates, the thigh simulator section and the shank simulator section are connected to form an angle between a thigh and a shank of a human body when experimental measurement is carried out on the thigh simulator section and the shank simulator section, two springs are arranged in a simulated joint, a second rotating base 22 is provided with a strip-shaped spring groove 24, one end of a spring 23 is arranged in the spring groove 24 and can slide along the spring groove 24, and the springs in the simulated joint are selected according to elastic coefficients, so that the rotating stiffness in the simulated joint is the same as the rotating stiffness of flexion and extension of a knee joint;
and a silica gel outer skin is wrapped outside the joint.
The acceleration sensor, the angular acceleration sensor and the force sensor are arranged on the outer sides of thigh and calf simulator body sections.
And (3) impacting the dummy device under the same impact conditions as those in the experiment for obtaining the rotation rigidity of the flexion and extension of the knee joint to obtain a detection result of the joint rigidity, and comparing the detection result with the rotation rigidity of the flexion and extension of the knee joint of the human body under the impact.
The right legs of 20 different human bodies are simulated respectively in the mode, the simulation result is compared with the joint rotation rigidity difference measured by the thesis experiment method, the deviation between the simulation value and the measured value is less than 5%, and the method is relatively accurate in simulation of the human body joint rotation rigidity.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on operational states of the present invention, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (10)
1. A dummy device with individualized and adjustable body segment and joint characteristics is characterized by comprising a simulation body segment (1) and a simulation joint (2),
the simulation body segment (1) is used for simulating rigid bones, and the simulation joint (2) is used for connecting different body segments and simulating joint rotation movement.
2. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the simulator body section (1) comprises a straight cylinder (11) and a counterweight seat (12), wherein the counterweight seat (12) is connected to the cylinder surface of the straight cylinder (11), and the counterweight seat (12) can be connected to different positions of the cylinder surface of the straight cylinder (11) in a connecting mode, so that the center of mass of the simulator body section (1) can be adjusted.
3. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the counterweight seat (12) comprises a base (121) and a counterweight ring (122), the counterweight ring (122) is fixed on the base (121), the counterweight ring (122) has multiple models, and the masses of the counterweight rings (122) in different models are different, so that the adjustment of the mass of the simulator body segment (1) and the rotational inertia in the X-axis and Y-axis directions is realized.
4. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the counterweight ring (122) is annular, the outer diameters of different counterweight rings (122) are different, and the adjustment of the rotational inertia of the simulator body section (1) in the Z-axis direction is realized by replacing different counterweight rings (122).
5. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the base (121) comprises two semi-annular clamping pieces (1211), and bolt holes are formed in the port positions of the semi-annular clamping pieces (1211), so that the two semi-annular clamping pieces (1211) can be fixedly connected into a ring shape through bolts to be clamped on the cylindrical surface of the straight cylinder (11).
6. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the straight cylinder (11) comprises an upper straight cylinder (111) and a lower straight cylinder (112), and a corresponding internal thread section and an external thread section (1121) are arranged at the connecting end of the upper straight cylinder (111) and the lower straight cylinder (112), so that the upper straight cylinder (111) and the lower straight cylinder (112) can be connected through threads, and the length of the straight cylinder (11) can be adjusted by adjusting the screwing length of the threads.
7. The prosthetic device of claim 1, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the simulation joint (2) comprises a one-degree-of-freedom joint, a two-degree-of-freedom joint and a three-degree-of-freedom joint,
the one degree-of-freedom joint includes a first rotating base (21), a second rotating base (22), and a spring (23), pin holes (211) are provided at the bottom of the first rotating base (21) and the top of the second rotating base (22), so that the first rotating base (21) and the second rotating base (22) can be combined together and rotate around the pin holes (211) axis,
one end of the spring (23) is fixed at the top end of the first rotating base (21), and the other end of the spring is fixed at the bottom end of the second rotating base (22), so that the joint has certain torque.
8. The prosthetic device of claim 7, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
the first rotating base (21) or the second rotating base (22) is provided with an elongated spring groove (24), and one end part of the spring (23) is placed in the spring groove (24) and can slide along the spring groove (24).
9. The prosthetic device of claim 7, wherein the prosthetic device comprises a body segment and a joint feature that are individually adjustable,
on the basis of the one-degree-of-freedom joint, a universal joint (25) is added to obtain a two-degree-of-freedom joint, and the universal joint (25) is installed at the top end of the first rotating base (21) or the bottom end of the second rotating base (22);
the three-degree-of-freedom joint is a combination of a two-degree-of-freedom joint and a one-degree-of-freedom joint.
10. A dummy testing method with individually adjustable body segment and joint characteristics, preferably realized by the device as claimed in any one of claims 1-9,
the method comprises the following steps:
s1, obtaining personalized parameters of the human body to be simulated;
s2, adjusting the dummy device according to the personalized parameters;
and S3, placing the dummy in an environment to be tested for testing, and collecting test data.
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