CN114734431B - Experiment platform for simulating man-machine coupling of lower limb exoskeleton - Google Patents
Experiment platform for simulating man-machine coupling of lower limb exoskeleton Download PDFInfo
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- CN114734431B CN114734431B CN202210465047.XA CN202210465047A CN114734431B CN 114734431 B CN114734431 B CN 114734431B CN 202210465047 A CN202210465047 A CN 202210465047A CN 114734431 B CN114734431 B CN 114734431B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses an experimental platform for simulating man-machine coupling of a lower limb exoskeleton, which comprises a rack, a force sensor up-and-down sliding module, a force sensor mounting base, a displacement sensor up-and-down sliding block, a displacement sensor left-and-right sliding block, a foot limiting baffle, a force sensor, a displacement sensor and a man-machine coupling binding band liner, wherein a foot limiting baffle sliding block guide rail and a sensor sliding block guide rail are arranged on the rack to form a moving pair, and the force sensor up-and-down sliding module and the displacement sensor up-and-down sliding block are respectively connected with the sensor sliding block guide rail. The left and right sliders of the displacement sensor are arranged in the upper and lower sliders of the displacement sensor, the displacement sensor is arranged at the end of the left and right sliders of the displacement sensor, and the foot limiting baffle is connected with the guide rail of the foot limiting baffle slider. Force sensor installs on force sensor mounting base, and force sensor mounting base slides module sliding connection from top to bottom with force sensor, and force sensor's tip links to each other with man-machine coupling bandage liner.
Description
Technical Field
The invention belongs to the technical field of lower limb exoskeleton robots, and particularly relates to an experimental platform for simulating man-machine coupling of a lower limb exoskeleton.
Background
The application and research of the lower limb exoskeleton robot are wide, the lower limb exoskeleton robot mostly relates to the fields of medical rehabilitation, battlefield assistance and the like, the coupling comfort between a wearer and an exoskeleton is an important index for evaluating the performance of an exoskeleton device, and the coupling comfort can be reflected by man-machine coupling force. But the rigid-flexible coupling of the man-machine has the characteristics of nonlinearity: human bones and robots have high rigidity, skin, muscles, fat, man-machine coupling straps and the like of a human have obvious flexibility characteristics, and friction, impact and vibration between human legs and an exoskeleton can consume energy. When the human-machine movement is not coordinated, the force of the exoskeleton robot is transmitted to the human skeleton through the coupling strap, the skin, the subcutaneous tissue and the muscle, and vice versa. The conduction path of the force has a very complex nonlinear relationship, the human body is not a uniform organism, when the parameters of the crowd such as sex, age, height, weight, body fat percentage and the like are different, the mechanical parameters such as mass distribution, elastic modulus and the like also have larger or smaller difference, and in addition, the coupling position and the tightness degree of the exoskeleton and the human body are different, and the coupling force of the human body and the exoskeleton can also have influence on the human-machine coupling force.
For a physical human-computer interaction mode, the core is the coupling quality between a human and an exoskeleton robot, and efficient and comfortable human-computer coupling is the ultimate goal of exoskeleton robot research. On one hand, the man-machine coupling force cannot be too large, otherwise the wearer feels discomfort, and the working energy efficiency of the exoskeleton can be reduced; on the other hand, man-machine coupling time lag should be effectively controlled, otherwise the wearer may lower the wearer's confidence in the exoskeleton robot. From the evaluation perspective, the human-computer coupling force determines the comfort degree of the coupling position of the human body and the exoskeleton robot; from a control perspective, the human-machine time lag coupling should be borne by the exoskeleton robot. If the exoskeleton robot system predicts and compensates the human-computer coupling force and controls the human-computer coupling force in a proper range, the comfort and the safety of a wearer are greatly improved, and the action energy consumption is greatly reduced.
At present, the existing related equipment is lack of equipment capable of effectively measuring human-computer motion errors (human soft tissue deformation), and equipment for measuring human-computer coupling force and human-computer motion errors in a combined mode is further lack.
Disclosure of Invention
The invention aims to solve the problems and provides an experimental platform for simulating the man-machine coupling of the lower limb exoskeleton, which can simultaneously measure the man-machine coupling force and the man-machine motion error and further identify the man-machine coupling parameters of the lower limb exoskeleton.
In order to solve the technical problems, the technical scheme of the invention is as follows: an experimental platform for simulating man-machine coupling of lower limb exoskeleton comprises a rack, a force sensor up-and-down sliding module, a force sensor mounting base, a displacement sensor up-and-down sliding block, a displacement sensor left-and-right sliding block, a foot limiting baffle, a force sensor, a displacement sensor and a man-machine coupling binding band liner, wherein a foot limiting baffle sliding block guide rail and a sensor sliding block guide rail are arranged on the rack, and the force sensor up-and-down sliding module and the displacement sensor up-and-down sliding block are respectively connected with the sensor sliding block guide rail; the left and right sliding blocks of the displacement sensor are arranged in the upper and lower sliding blocks of the displacement sensor, the displacement sensor is arranged at the end part of the left and right sliding blocks of the displacement sensor, and the foot limiting baffle is connected with the guide rail of the sliding block of the foot limiting baffle; the force sensor is arranged on a force sensor mounting base, the force sensor mounting base is connected with the force sensor up-down sliding module, and the end part of the force sensor is connected with a man-machine coupling binding band gasket; the lower limb foot motion that the experimenter was coupled is restricted through the position of adjusting sufficient limit baffle, through adjusting the upper and lower height of sliding module and displacement sensor upper and lower slider about force sensor, measures the not co-altitude man-machine motion error of the coupled shank of experimenter through force sensor.
Preferably, the rack is of an L-shaped structure, the two sufficient limit baffle slider guide rails are distributed in the bottom of the rack in parallel, the two sensor slider guide rails are distributed in the rack in parallel, the sensor slider guide rails are vertically distributed in the rack, sufficient limit baffle slider guide rail holes are formed in the sufficient limit baffle slider guide rails, sensor slider guide rail holes are formed in the sensor slider guide rails, bolts penetrate the sufficient limit baffle slider guide rail holes and the sensor slider guide rail holes respectively, and the sufficient limit baffle slider guide rails and the sensor slider guide rails are fixedly connected with the rack respectively.
Preferably, the force sensor up-down sliding module comprises two up-down sliding module blocks, two up-down sliding module connecting rods and two up-down sliding module rotating screws, wherein the two up-down sliding module blocks are respectively positioned at two ends of the up-down sliding module connecting rods; the upper and lower sliding module blocks are of a cuboid structure, upper and lower sliding module block grooves are formed in the upper and lower sliding module blocks, the upper and lower sliding module blocks are in sliding connection with the sensor slider guide rail through the upper and lower sliding module block grooves, and the end parts of the rotating screws of the upper and lower sliding module blocks penetrate through the upper and lower sliding module blocks to be abutted to the sensor slider guide rail, so that the positions of the upper and lower sliding module blocks on the sensor slider guide rail are fixed; the up-down sliding module connecting rod is provided with an up-down sliding module connecting rod groove and an up-down sliding module connecting rod through hole, and the force sensor mounting base is connected with the up-down sliding module connecting rod through the up-down sliding module connecting rod groove and the up-down sliding module connecting rod through hole.
Preferably, the force sensor mounting base is of a structure in a shape like a Chinese character 'ji', force sensor mounting base holes, force sensor mounting base through grooves and force sensor mounting base connecting keys are respectively arranged on the force sensor mounting base, the sensor mounting base holes are distributed on the top of the force sensor mounting base in a circular array mode, the number of the force sensor mounting base through grooves is four, the two force sensor mounting base through grooves are a group and are located at the bottom of the force sensor mounting base, and the number of the force sensor mounting base connecting keys is two and is distributed at the bottom of the force sensor mounting base; when the force sensor mounting base is mounted on the force sensor up-and-down sliding module, the connecting key of the force sensor mounting base is matched with the connecting rod groove of the up-and-down sliding module, and the bolt sequentially penetrates through the through groove of the force sensor mounting base and the through hole of the connecting rod of the up-and-down sliding module to fix the force sensor mounting base on the connecting rod of the up-and-down sliding module.
Preferably, the upper and lower sliding blocks of the displacement sensor are in a cuboid structure, the upper and lower sliding block grooves of the displacement sensor, the upper and lower sliding block rotating screws of the displacement sensor and the displacement sensor connecting block are arranged on the upper and lower sliding blocks of the displacement sensor, and the upper and lower sliding block grooves of the displacement sensor and the displacement sensor connecting block are respectively positioned on two sides of the upper and lower sliding blocks of the displacement sensor; the rotary screw of the upper sliding block and the lower sliding block of the displacement sensor penetrates through the upper sliding block and the lower sliding block of the displacement sensor and extends into the grooves of the upper sliding block and the lower sliding block of the displacement sensor, the guide rail of the sensor sliding block is positioned in the grooves of the upper sliding block and the lower sliding block of the displacement sensor, the connecting block of the displacement sensor is provided with a groove of a connecting block of the displacement sensor and a hole of the connecting block of the displacement sensor, the number of the grooves of the connecting block of the displacement sensor is two, the two sliding blocks are arranged in parallel, the left sliding block and the right sliding block of the displacement sensor are positioned in the groove of the connecting block of the displacement sensor, and the bolt penetrates through the hole of the connecting block of the displacement sensor to fixedly connect the upper sliding block and the lower sliding block of the connecting block of the displacement sensor.
Preferably, the end surfaces of the left and right sliding blocks of the displacement sensor protrude outwards to form left and right sliding block protrusions of the displacement sensor, the protruding sections of the left and right sliding blocks of the displacement sensor are of inverted convex structures, left and right sliding block holes of the displacement sensor and left and right sliding block positioning holes of the displacement sensor are formed in the left and right sliding blocks of the displacement sensor, the displacement sensor is installed on the left and right sliding blocks of the displacement sensor through the left and right sliding block holes of the displacement sensor, and bolts penetrate through the left and right sliding block positioning holes of the displacement sensor and are abutted to connecting blocks fixed on the displacement sensor.
Preferably, sufficient limit baffle includes sufficient limit baffle piece, sufficient limit baffle riser and sufficient limit baffle connecting plate, and the quantity of sufficient limit baffle riser is two and distributes at the both ends of sufficient limit baffle connecting plate, and the terminal surface of sufficient limit baffle piece links to each other with sufficient limit baffle riser, is equipped with sufficient limit baffle piece recess and sufficient limit baffle piece screw on the sufficient limit baffle piece, and sufficient limit baffle slider guide rail is located sufficient limit baffle piece recess, and sufficient limit baffle piece screw stretches into inside the sufficient limit baffle piece recess after passing sufficient limit baffle piece.
Preferably, the cross section of the man-machine coupling binding belt gasket is of an arc-shaped structure, and the middle part of the man-machine coupling binding belt gasket is connected with the force sensor.
The invention has the beneficial effects that:
according to the experiment platform for simulating the human-computer coupling of the lower limb exoskeleton, each sliding module can slide in at least one direction, so that the experiment measurement of experimenters with different heights and thicknesses can be met, and the human-computer coupling force and the human-computer motion error can be measured or converted through one force sensor, two displacement sensors and the specific position relationship between the force sensor and the two displacement sensors, so that the human-computer coupling parameters of the lower limb exoskeleton can be identified.
Drawings
FIG. 1 is a schematic diagram of an overall assembly explosion of an experimental platform for simulating human-machine coupling of a lower extremity exoskeleton of the present invention;
FIG. 2 is a schematic view of the construction of the housing of the present invention;
FIG. 3 is a schematic structural diagram of the up-down sliding module of the force sensor of the present invention;
FIG. 4 is a schematic structural view of a force sensor mounting base of the present invention;
FIG. 5 is a top view of the force sensor mounting base of the present invention;
FIG. 6 is a schematic structural diagram of the upper and lower sliders of the displacement sensor of the present invention;
FIG. 7 is a schematic structural diagram of the left and right sliders of the displacement sensor of the present invention;
fig. 8 is a schematic structural view of the foot-limiting baffle of the present invention.
Description of the reference numerals: 1. a frame; 2. the force sensor vertically slides the module; 3. a force sensor mounting base; 4. an upper sliding block and a lower sliding block of the displacement sensor; 5. a left slide block and a right slide block of the displacement sensor; 6. a foot limiting baffle; 7. a foot-limiting baffle slide block guide rail; 8. a sensor slider guide rail; 9. a force sensor; 10. a displacement sensor; 11. a human-machine coupling strap pad; 12. a second groove of the L-shaped bracket part; 13. an L-shaped bracket member first groove; 21. sliding the module block up and down; 22. an up-down sliding module connecting rod; 23. rotating the screw by the up-down sliding module; 24. sliding the mold block grooves up and down; 25. sliding the module connecting rod slot up and down; 26. the upper and lower sliding module connecting rod through hole; 31. a force sensor mounting base aperture; 32. a force sensor mounting base through groove; 33. a force sensor mounting base connecting key; 41. the displacement sensor comprises an upper sliding block groove and a lower sliding block groove; 42. the screw is rotated by the upper and lower sliding blocks of the displacement sensor; 43. a displacement sensor connecting block; 44. a groove of a displacement sensor connecting block; 45. the displacement sensor is connected with the block hole; 51. the left and right slide blocks of the displacement sensor are raised; 52. a left slider hole and a right slider hole of the displacement sensor; 53. positioning holes of left and right slide blocks of the displacement sensor; 61. a foot limiting baffle block; 62. a foot limiting baffle vertical plate; 63. a foot limit baffle connecting plate; 64. a foot limiting baffle block groove; 65. foot limit baffle block screw.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
as shown in fig. 1 to 8, the experimental platform for simulating man-machine coupling of the lower extremity exoskeleton provided by the invention comprises a rack 1, a force sensor up-and-down sliding module 2, a force sensor mounting base 3, a displacement sensor up-and-down sliding block 4, a displacement sensor left-and-right sliding block 5, a foot limiting baffle 6, a force sensor 9, a displacement sensor 10 and a man-machine coupling binding band liner 11, wherein a foot limiting baffle sliding block guide rail 7 and a sensor sliding block guide rail 8 are arranged on the rack 1 to form a moving pair, and the force sensor up-and-down sliding module 2 and the displacement sensor up-and-down sliding block 4 are respectively connected with the sensor sliding block guide rail 8. The left and right sliding blocks 5 of the displacement sensor are arranged in the upper and lower sliding blocks 4 of the displacement sensor, the displacement sensor 10 is arranged at the end part of the left and right sliding blocks 5 of the displacement sensor, and the foot limit baffle 6 is connected with the sliding block guide rail 7 of the foot limit baffle. Force sensor 9 installs on force sensor mounting base 3, and force sensor mounting base 3 is connected with force sensor upper and lower slip module 2, and force sensor 9's tip links to each other with man-machine coupling bandage pad 11. Lower limbs foot motion that the experimenter was coupled is restricted through adjusting the position of sufficient limit baffle 6, through the upper and lower height of adjusting the upper and lower slider 4 of force sensor upper and lower slip module 2 and displacement sensor, measures the not co-altitude man-machine motion error of the coupled shank of experimenter through force sensor 9.
In this embodiment, the frame 1 is formed by two parallel L-shaped bracket members connected by a connecting plate. The L-shaped support part is provided with a first L-shaped support part groove 13 and a second L-shaped support part groove 12, and the first L-shaped support part groove 13 and the second L-shaped support part groove 12 are internally provided with groove holes which are distributed linearly. The foot limiting baffle sliding block guide rail 7 is installed in the second groove 12 of the L-shaped support part, the bolt sequentially penetrates through a foot limiting baffle sliding block guide rail hole and a groove hole, the foot limiting baffle sliding block guide rail 7 is fixed in the second groove 12 of the L-shaped support part, and the sensor sliding block guide rail 8 is fixed in the first groove 13 of the L-shaped support part by the same method.
Limit baffle slider guide 7 and sensor slider guide 8 adopt solid stainless steel preparation to increase stability, prevent to produce when carrying out the man-machine coupling experiment and rock.
The force sensor up-down sliding module 2 includes an up-down sliding module block 21, an up-down sliding module connecting rod 22 and an up-down sliding module rotating screw 23, and the number of the up-down sliding module block 21 is two and the two ends of the up-down sliding module connecting rod 22 are respectively located. The up-down sliding module block 21 is a cuboid structure, the up-down sliding module block groove 24 is arranged on the up-down sliding module block 21, the up-down sliding module block 21 is connected with the sensor slider guide rail 8 in a sliding manner through the up-down sliding module block groove 24, the end part of the up-down sliding module rotating screw 23 penetrates the up-down sliding module block 21 and the sensor slider guide rail 8 in a butting manner, and therefore the position of the up-down sliding module block 21 on the sensor slider guide rail 8 is fixed. The up-down sliding module link 22 is provided with an up-down sliding module link groove 25 and an up-down sliding module link through-hole 26, and the force sensor mounting base 3 is connected to the up-down sliding module link 22 through the up-down sliding module link groove 25 and the up-down sliding module link through-hole 26.
In the use, the position of upper and lower slip module piece 21 on sensor slider guide rail 8 is adjustable, when adjusting the position of upper and lower slip module piece 21, through rotating upper and lower slip module rotation screw 23 to make the tip of upper and lower slip module rotation screw 23 and sensor slider guide rail 8 butt, thereby slide module piece 21 about will and fix. When the position of the up-down sliding module block 21 needs to be adjusted, the up-down sliding module rotating screw 23 is rotated reversely, so that the contact between the up-down sliding module block 21 and the sensor slider guide rail 8 can be released, and the position of the up-down sliding module block 21 is adjusted and then fixed.
The structure of the upper and lower sliding module rotating screws 23 is "L" shaped in this embodiment, the shorter end of the upper and lower sliding module rotating screws 23 is provided with a thread structure, and the longer end of the upper and lower sliding module rotating screws 23 is a manual rotating part, so that the worker can rotate the upper and lower sliding module rotating screws 23 conveniently. The up-down sliding module link through holes 26 are distributed in a plurality and symmetrically on the up-down sliding module link 22.
According to the invention, the force sensor up-and-down sliding module 2 is arranged on the sensor slide block guide rail 8 to form a sliding pair, locking and unlocking are realized by rotating the up-and-down sliding module rotating screw 23, and in an unlocking state, the up-and-down sliding force sensor up-and-down sliding module 2 adjusts the height to measure the man-machine coupling force of different heights of the leg.
Force sensor mounting base 3 is "nearly" style of calligraphy structure, be equipped with force sensor mounting base hole 31 on the force sensor mounting base 3 respectively, force sensor mounting base leads to groove 32 and force sensor mounting base connection key 33, sensor mounting base hole 31 is circular form array distribution at the top of force sensor mounting base 3, the quantity that force sensor mounting base led to groove 32 is four, two force sensor mounting base lead to groove 32 for a set of bottom that is located force sensor mounting base 3, the quantity of force sensor mounting base connection key 33 is two and distributes in the bottom of force sensor mounting base 3. When the force sensor mounting base 3 is mounted on the force sensor up-down sliding module 2, the force sensor mounting base connecting key 33 is matched with the up-down sliding module connecting rod groove 25, and the bolt sequentially passes through the force sensor mounting base through groove 32 and the up-down sliding module connecting rod through hole 26 to fix the force sensor mounting base 3 on the up-down sliding module connecting rod 22.
In the present embodiment, the force-sensor-mounting-base through groove 32 has a rectangular shape with rounded edges in cross section. A plurality of bolts pass through the through groove 32 of the force sensor mounting base and then are connected with the up-down sliding module connecting rod through holes 26 at different positions, so that the force sensor mounting base 3 is stably connected with the up-down sliding module connecting rod 22.
The force sensor mounting base 3 is inserted into the up-down sliding module link groove 25 in the middle of the force sensor up-down sliding module 2 through the force sensor mounting base connecting key 33 to form a sliding pair, so that the sliding in the corresponding direction can be realized.
The upper and lower sliding blocks 4 of the displacement sensor are of a cuboid structure, the upper and lower sliding block grooves 41 of the displacement sensor, the rotating screws 42 of the upper and lower sliding blocks of the displacement sensor and the connecting blocks 43 of the displacement sensor are arranged on the upper and lower sliding blocks 4 of the displacement sensor, and the upper and lower sliding block grooves 41 of the displacement sensor and the connecting blocks 43 of the displacement sensor are respectively positioned on two sides of the upper and lower sliding blocks 4 of the displacement sensor. The upper and lower slider rotating screw 42 of the displacement sensor penetrates through the upper and lower slider 4 of the displacement sensor and extends into the upper and lower slider groove 41 of the displacement sensor, and the sensor slider guide rail 8 is positioned in the upper and lower slider groove 41 of the displacement sensor. Be equipped with displacement sensor connecting block recess 44 and displacement sensor connecting block hole 45 on the displacement sensor connecting block 43, the quantity of displacement sensor connecting block recess 44 is two and parallel arrangement, and slider 5 is located displacement sensor connecting block recess 44 about the displacement sensor, and the bolt passes displacement sensor connecting block hole 45 and links firmly upper and lower slider 4 of displacement sensor connecting block 43 displacement sensor.
Through adjusting the distance that the upper and lower slider rotating screws 42 of the displacement sensor stretch into the upper and lower slider grooves 41 of the displacement sensor, the upper and lower slider rotating screws 42 of the displacement sensor are abutted against the sensor slider guide rail 8, and the upper and lower sliders 4 of the displacement sensor are fixed on the sensor slider guide rail 8. When the position of the displacement sensor up-down slider 4 needs to be adjusted, the contact with the sensor slider guide rail 8 can be loosened by reversely rotating the displacement sensor up-down slider rotating screw 42.
The upper and lower sliders 4 of the displacement sensor are respectively arranged at the upper and lower positions of the force sensor upper and lower sliding module 2, and the locking and unlocking of the upper and lower sliders on the sensor slider guide rail 8 are realized by rotating the upper and lower slider rotating screws 42 of the displacement sensor. The height of the displacement sensor is adjusted by sliding the upper and lower sliding blocks 4 of the displacement sensor up and down in an unlocking state, so that the human-computer motion errors of different heights of the legs can be measured. An upper displacement sensor connecting block groove 44 and a lower displacement sensor connecting block groove 44 are formed in the upper sliding block 4 and the lower sliding block 4 of each displacement sensor and used for mounting the left sliding block 5 and the right sliding block 5 of each displacement sensor.
The end surfaces of the left and right sliders 5 of the displacement sensor protrude outwards to form left and right slider protrusions 51 of the displacement sensor, the cross sections of the left and right slider protrusions 51 of the displacement sensor are of inverted convex structures, left and right slider holes 52 of the displacement sensor and left and right slider positioning holes 53 of the displacement sensor are formed in the left and right sliders 5 of the displacement sensor, the displacement sensor 10 is installed on the left and right sliders 5 of the displacement sensor through the left and right slider holes 52 of the displacement sensor, and a bolt penetrates through the left and right slider positioning holes 53 of the displacement sensor and abuts against and is fixed on the displacement sensor connecting block 43.
In the present embodiment, the section of the displacement sensor connecting block groove 44 is the same as that of the displacement sensor left and right slider protrusions 51, so that a better fit can be achieved.
The positions of the left and right sliders 5 of the displacement sensor are arranged according to actual use requirements so as to better complete the measurement of the displacement sensor 10. The number of the left and right slider holes 52 of the displacement sensor is two, thereby increasing the stability of the displacement sensor 10 when fixed.
The left and right sliding blocks 5 of the two displacement sensors are arranged in the groove 44 of the connecting block of the displacement sensor, and a sliding pair is formed after the assembly. The screw passes through the left and right slide block positioning holes 53 of the displacement sensor and then abuts against the displacement sensor connecting block 43 to lock and unlock the left and right slide blocks 5 of the displacement sensor, and the left and right slide blocks 5 of the displacement sensor are slid to adjust the position in an unlocked state to find the best horizontal position for measuring the human-machine motion error.
The connection relationship between the foot limit baffle block screw 65 and the foot limit baffle slider guide rail 7 is the same as the connection relationship between the displacement sensor up-down slider rotating screw 42 and the sensor slider guide rail 8.
Two ends of the foot limiting baffle 6 are respectively matched with the foot limiting baffle slide block guide rail 7 to form a sliding pair, and the foot limiting baffle block screw 65 above the foot limiting baffle 6 realizes the locking and unlocking of the position of the foot limiting baffle 6, so that the position can be adjusted, and the coupled lower limb and foot of an experimenter can be restrained to move only forwards and backwards.
The cross section of the man-machine coupling bandage pad 11 is of an arc-shaped structure, and the middle part of the man-machine coupling bandage pad 11 is connected with the force sensor 9, so that the man-machine coupling force is measured.
When the experimenter uses the leg to contact the pad 11, the force sensor 9 measures the force of the leg.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto and changes may be made without departing from the scope of the invention in its aspects.
Claims (3)
1. An experiment platform for simulating man-machine coupling of a lower limb exoskeleton is characterized in that: the device comprises a rack (1), a force sensor up-and-down sliding module (2), a force sensor mounting base (3), a displacement sensor up-and-down sliding block (4), a displacement sensor left-and-right sliding block (5), a foot limiting baffle (6), a force sensor (9), a displacement sensor (10) and a man-machine coupling binding band liner (11), wherein a foot limiting baffle sliding block guide rail (7) and a sensor sliding block guide rail (8) are arranged on the rack (1), and the force sensor up-and-down sliding module (2) and the displacement sensor up-and-down sliding block (4) are respectively connected with the sensor sliding block guide rail (8); the left and right sliding blocks (5) of the displacement sensor are arranged in the upper and lower sliding blocks (4) of the displacement sensor, the displacement sensor (10) is arranged at the end part of the left and right sliding blocks (5) of the displacement sensor, and the foot limit baffle (6) is connected with the guide rail (7) of the sliding block of the foot limit baffle; the force sensor (9) is arranged on the force sensor mounting base (3), the force sensor mounting base (3) is connected with the force sensor up-down sliding module (2), and the end part of the force sensor (9) is connected with a man-machine coupling binding band pad (11); the motion of the lower limb feet coupled by the experimenter is limited by adjusting the position of the foot limiting baffle (6), the human-computer motion errors of different heights of the legs coupled by the experimenter are measured by adjusting the vertical heights of the vertical sliding module (2) of the force sensor and the vertical sliding block (4) of the displacement sensor and the force sensor (9);
the force sensor up-down sliding module (2) comprises up-down sliding module blocks (21), up-down sliding module connecting rods (22) and up-down sliding module rotating screws (23), wherein the number of the up-down sliding module blocks (21) is two, and the up-down sliding module blocks are respectively positioned at two ends of the up-down sliding module connecting rods (22); the upper and lower sliding module block (21) is of a cuboid structure, an upper and lower sliding module block groove (24) is formed in the upper and lower sliding module block (21), the upper and lower sliding module block (21) is in sliding connection with the sensor slider guide rail (8) through the upper and lower sliding module block groove (24), and the end part of an upper and lower sliding module rotating screw (23) penetrates through the upper and lower sliding module block (21) to be abutted to the sensor slider guide rail (8), so that the position of the upper and lower sliding module block (21) on the sensor slider guide rail (8) is fixed; the up-and-down sliding module connecting rod groove (25) and the up-and-down sliding module connecting rod through hole (26) are formed in the up-and-down sliding module connecting rod (22), and the force sensor mounting base (3) is connected with the up-and-down sliding module connecting rod (22) through the up-and-down sliding module connecting rod groove (25) and the up-and-down sliding module connecting rod through hole (26);
the force sensor mounting base is characterized in that the force sensor mounting base (3) is of a structure in a shape like a Chinese character 'ji', force sensor mounting base holes (31), force sensor mounting base through grooves (32) and force sensor mounting base connecting keys (33) are respectively arranged on the force sensor mounting base (3), the sensor mounting base holes (31) are distributed on the top of the force sensor mounting base (3) in a circular array mode, the number of the force sensor mounting base through grooves (32) is four, the two force sensor mounting base through grooves (32) are located at the bottom of the force sensor mounting base (3) in a group mode, and the number of the force sensor mounting base connecting keys (33) is two and is distributed at the bottom of the force sensor mounting base (3); when the force sensor mounting base (3) is mounted on the force sensor up-and-down sliding module (2), the force sensor mounting base connecting key (33) is matched with the up-and-down sliding module connecting rod groove (25), and the force sensor mounting base (3) is fixed on the up-and-down sliding module connecting rod (22) through the force sensor mounting base through groove (32) and the up-and-down sliding module connecting rod through hole (26) by bolts sequentially penetrating through the force sensor mounting base through groove (32);
the upper and lower sliding blocks (4) of the displacement sensor are of a cuboid structure, the upper and lower sliding block grooves (41) of the displacement sensor, the rotating screws (42) of the upper and lower sliding blocks of the displacement sensor and the connecting blocks (43) of the displacement sensor are arranged on the upper and lower sliding blocks (4) of the displacement sensor, and the upper and lower sliding block grooves (41) of the displacement sensor and the connecting blocks (43) of the displacement sensor are respectively positioned on two sides of the upper and lower sliding blocks (4) of the displacement sensor; a rotary screw (42) of an upper sliding block and a lower sliding block of a displacement sensor penetrates through the upper sliding block and the lower sliding block (4) of the displacement sensor and extends into an upper sliding block groove (41) and a lower sliding block groove (41) of the displacement sensor, a guide rail (8) of a sensor sliding block is positioned in the upper sliding block groove (41) and the lower sliding block groove (41) of the displacement sensor, a connecting block groove (44) of the displacement sensor and a connecting block hole (45) of the displacement sensor are arranged on a connecting block (43) of the displacement sensor, the two connecting block grooves (44) of the displacement sensor are arranged in parallel, the left sliding block and the right sliding block (5) of the displacement sensor are positioned in the connecting block groove (44) of the displacement sensor, and a bolt penetrates through the connecting block hole (45) of the displacement sensor to fixedly connect the upper sliding block and the lower sliding block (4) of the displacement sensor of the connecting block (43) of the displacement sensor;
the end surfaces of the left and right sliding blocks (5) of the displacement sensor protrude outwards to form left and right sliding block protrusions (51) of the displacement sensor, the cross section of the left and right sliding block protrusions (51) of the displacement sensor is of an inverted convex structure, left and right sliding block holes (52) of the displacement sensor and left and right sliding block positioning holes (53) of the displacement sensor are formed in the left and right sliding blocks (5) of the displacement sensor, the displacement sensor (10) is installed on the left and right sliding blocks (5) of the displacement sensor through the left and right sliding block holes (52) of the displacement sensor, and a bolt penetrates through the left and right sliding block positioning holes (53) of the displacement sensor to abut against a connecting block (43) fixed on the displacement sensor;
sufficient limit baffle (6) are including sufficient limit baffle piece (61), sufficient limit baffle riser (62) and sufficient limit baffle connecting plate (63), the quantity of sufficient limit baffle riser (62) is two and distributes at the both ends of sufficient limit baffle connecting plate (63), the terminal surface of sufficient limit baffle piece (61) links to each other with sufficient limit baffle riser (62), be equipped with sufficient limit baffle piece recess (64) and sufficient limit baffle piece screw (65) on sufficient limit baffle piece (61), sufficient limit baffle slider guide rail (7) are located sufficient limit baffle piece recess (64), it is inside that sufficient limit baffle piece recess (64) is stretched into after sufficient limit baffle piece (61) is passed to sufficient limit baffle piece screw (65).
2. The human-computer coupling experiment platform for simulating the exoskeleton of lower limbs of claim 1, wherein: frame (1) is "L" style of calligraphy structure, the quantity of sufficient limit baffle slider guide rail (7) is two and parallel distribution in the bottom of frame (1), the quantity of sensor slider guide rail (8) is two and parallel, sensor slider guide rail (8) vertical distribution is in frame (1), be equipped with sufficient limit baffle slider guide rail hole on sufficient limit baffle slider guide rail (7), be equipped with sensor slider guide rail hole on sensor slider guide rail (8), the bolt passes sufficient limit baffle slider guide rail hole and sensor slider guide rail hole respectively, link firmly sufficient limit baffle slider guide rail (7) and sensor slider guide rail (8) with frame (1) respectively.
3. The human-computer coupling experiment platform for simulating the exoskeleton of lower limbs of claim 1, wherein: the cross section of the man-machine coupling bandage pad (11) is of an arc-shaped structure, and the middle part of the man-machine coupling bandage pad (11) is connected with the force sensor (9).
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