CN212513054U - Medical exoskeleton robot auxiliary motion parameter online detection device - Google Patents
Medical exoskeleton robot auxiliary motion parameter online detection device Download PDFInfo
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- CN212513054U CN212513054U CN202021342557.0U CN202021342557U CN212513054U CN 212513054 U CN212513054 U CN 212513054U CN 202021342557 U CN202021342557 U CN 202021342557U CN 212513054 U CN212513054 U CN 212513054U
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Abstract
The utility model discloses a medical exoskeleton robot auxiliary motion parameter online detection device, which comprises an upper computer display and processing system, a controller MCU, an attitude angle sensor, a film pressure sensor, an inclination angle sensor, a temperature and humidity sensor, a signal switching circuit and a 12-bit AD conversion circuit, wherein the attitude angle sensor and the inclination angle sensor transmit collected data to the controller MCU through an I2C bus, and the signal switching circuit amplifies signals collected by the film pressure sensor and the temperature and humidity sensor; the utility model discloses dispose inclination sensor, can guarantee test data's accuracy, dispose temperature and humidity sensor, can real-time on-line monitoring surrounding environment, simultaneously the utility model discloses possess data processing and qualified decision function, very big reduction inspection personnel's work load and fault rate, possessed the output function of report, very big reduction the error rate of artifical record, more effectual accuracy of guaranteeing the result.
Description
Technical Field
The utility model belongs to the technical field of medical robot detection equipment, concretely relates to supplementary motion parameter on-line measuring device of medical ectoskeleton robot.
Background
The exoskeleton robot is widely applied to the fields of civil use, medical treatment, military affairs and the like as a wearable mechanical device outside a human body, and the application of the exoskeleton robot in the medical field is mainly used for rehabilitation training of injury or deficiency of human motion control capability caused by diseases such as muscular atrophy, osteoporosis and pressure sores, so that the current situation of shortage of rehabilitation therapists is greatly relieved.
At present, medical exoskeleton robot products mainly comprise an upper limb exoskeleton robot, a lower limb exoskeleton robot, a hand exoskeleton robot and two-foot exoskeleton robots. The related motion parameters of the exoskeleton medical robot mainly include pressure and angle, and the existing third-party detection platform mainly adopts independent test equipment or detection devices developed by enterprises corresponding to the corresponding parameters aiming at the parameters, and the devices mainly have the following problems:
1) errors introduced by offset of the fixing device are not considered;
2) the data processing function is not provided;
3) the temperature and humidity online monitoring function is not provided;
4) the function of judging the detection result is not provided;
5) and has no report output function.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a supplementary motion parameter on-line measuring device of medical ectoskeleton robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: an on-line detection device for auxiliary motion parameters of a medical exoskeleton robot comprises an upper computer display and processing system, a controller MCU, an attitude angle sensor, a film pressure sensor, an inclination angle sensor, a temperature and humidity sensor, a signal switching circuit and a 12-bit AD conversion circuit, the attitude angle sensor and the tilt angle sensor transmit the collected data to the controller MCU through an I2C bus, the signal switching circuit amplifies signals collected by the film pressure sensor and the temperature and humidity sensor, the 12-bit AD conversion circuit transmits the amplified signals to the controller MCU, the attitude angle sensor, the temperature and humidity sensor, the tilt angle sensor and the controller MCU are all fixed on the exoskeleton robot through a T-shaped fixing device and a locking nut, the thin film pressure sensor is directly pasted on the exoskeleton robot, and the controller MCU realizes data communication with the upper computer display and processing system through a serial port line.
Preferably, the T-shaped fixing device is made of an acrylic material, if the T-shaped fixing device is made of a conventional metal material, the whole device is heavy, the movement of the exoskeleton robot is influenced, and other flexible materials are not beneficial to fixing of the whole device.
Preferably, the controller MCU includes 1-4I 2C signal conversion modules and 1-4 AD data conversion modules, and if the number of the I2C signal conversion modules and the number of the AD data conversion modules are too small, the whole joint cannot be detected simultaneously; if the number of the I2C signal conversion modules and the AD data conversion modules is too large, the overall device will be too bulky.
Preferably, the upper computer display and processing system has functions of displaying data in real time, storing data, processing data, marking data failure determination, and printing report output.
Preferably, the data processing function corrects the data collected by the attitude angle sensor based on the data collected by the tilt angle sensor.
Preferably, the report output printing function can output all real-time collected data, processing results and all temperature and humidity data corresponding to the data collection in Word and PDF formats.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses dispose inclination sensor, can guarantee test data's accuracy.
2. The utility model discloses dispose temperature and humidity sensor can real-time on-line monitoring surrounding environment, need not be equipped with extra warm and humid acidimeter, the cost is reduced.
3. The utility model discloses possess data processing and qualified decision function, very big reduction inspection personnel's work load and error rate.
4. The utility model discloses possess the output function of report, very big reduction the error rate of artifical record, more effectual accuracy of guaranteeing the result.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the T-shaped fixing device of the present invention.
In the figure: 1. a host computer display and processing system; 2. a controller MCU; 3. an attitude angle sensor; 4. A thin film pressure sensor; 5. a tilt sensor; 6. a temperature and humidity sensor; 7. a signal switching circuit; 8. A 12-bit AD conversion circuit; 9. an I2C bus; 10. a T-shaped fixing device; 11. and locking the nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to 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.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "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; either directly or indirectly through intervening media, or through the communication between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1-2, the present invention provides a technical solution: an on-line detection device for auxiliary motion parameters of a medical exoskeleton robot comprises an upper computer display and processing system 1, a controller MCU2, an attitude angle sensor 3, a film pressure sensor 4, an inclination angle sensor 5, a temperature and humidity sensor 6, a signal switching circuit 7 and a 12-bit AD conversion circuit 8, wherein the attitude angle sensor 3 and the inclination angle sensor 5 transmit acquired data to the controller MCU2 through an I2C bus 9, the signal switching circuit 7 amplifies signals acquired by the film pressure sensor 4 and the temperature and humidity sensor 6, the 12-bit AD conversion circuit 8 transmits the amplified signals to a controller MCU2, the attitude angle sensor 3, the temperature and humidity sensor 6, the inclination angle sensor 5 and the controller MCU2 are all fixed on the exoskeleton robot through a T-shaped fixing device 10 and a locking nut 11, the film pressure sensor 4 is directly pasted on the exoskeleton robot, the controller MCU2 realizes data communication with the upper computer display and processing system 1 through serial port lines.
In this embodiment, preferably, the T-shaped fixing device 10 is made of acrylic material, if the conventional metal material is used, the whole device is heavy, which affects the movement of the exoskeleton robot, and other flexible materials are not favorable for fixing the whole device.
In this embodiment, preferably, the controller MCU2 includes 1 to 4I 2C signal conversion modules and 1 to 4 AD data conversion modules, and if the number of the I2C signal conversion modules and the number of the AD data conversion modules are too small, the joint cannot be detected at the same time; if the number of the I2C signal conversion modules and the AD data conversion modules is too large, the overall device will be too bulky.
In this embodiment, the host computer display and processing system 1 preferably has functions of displaying data in real time, storing data, processing data, marking data failure determination, and printing report output.
In this embodiment, preferably, the data processing function corrects the data acquired by the attitude angle sensor 3 based on the data acquired by the tilt sensor 5.
In this embodiment, preferably, the report output printing function may output all the data collected in real time, the processing result, and all the temperature and humidity data corresponding to the data collection in the Word format and the PDF format.
The utility model discloses a theory of operation and use flow: before detection, the controller MCU2, the attitude angle sensor 3, the inclination angle sensor 5 and the temperature and humidity sensor 6 are installed on the exoskeleton robot through the T-shaped fixing device 10, the film pressure sensor 4 is directly pasted to the corresponding joints of the robot and the matched test dummy, and the controller MCU2 is connected with the upper computer display and processing system 1 through a serial port line; during detection, the attitude angle sensor 3 and the tilt angle sensor 5 transmit acquired data to the controller MCU2 through an I2C bus 9, and the film pressure sensor 4 and the temperature and humidity sensor 6 amplify acquired signals through the signal switching circuit 7 and transmit the amplified signals to the controller MCU2 through the 12-bit AD conversion circuit 8; in the testing process, the upper computer display and processing system 1 can display currently measured pressure parameters, attitude angle parameters, inclination angle parameters and temperature and humidity parameters in real time, and meanwhile, the upper computer display and processing system 1 compares the acquired data with the values set by the standards to judge the results; after the test is stopped, the upper computer display and processing system 1 displays the acquired data processing result, marks unqualified items, and can print the acquired data in a report form through a report output printing function of the upper computer display and processing system 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a medical ectoskeleton robot auxiliary motion parameter on-line measuring device, includes host computer demonstration and processing system (1), controller MCU (2), gesture angle sensor (3), film pressure sensor (4), inclination sensor (5), temperature and humidity sensor (6), signal switching circuit (7) and 12 AD converting circuit (8), its characterized in that: attitude angle sensor (3) and tilt sensor (5) are through I2C bus (9) data transmission to controller MCU (2) of gathering, signal switching circuit (7) are enlargied the signal that film pressure sensor (4) and temperature and humidity sensor (6) gathered, 12 AD converting circuit (8) are with signal transmission to controller MCU (2) of enlargiing, attitude angle sensor (3), temperature and humidity sensor (6), tilt sensor (5) and controller MCU (2) are all fixed in on the ectoskeleton robot through T type fixing device (10) and lock nut (11), film pressure sensor (4) direct paste is on the ectoskeleton robot, data communication is realized through serial port line and host computer display and processing system (1) in controller MCU (2).
2. The medical exoskeleton robot assisted motion parameter online detection device as claimed in claim 1, wherein: the T-shaped fixing device (10) is made of acrylic materials.
3. The medical exoskeleton robot assisted motion parameter online detection device as claimed in claim 1, wherein: the controller MCU (2) comprises 1-4I 2C signal conversion modules and 1-4 AD data conversion modules.
4. The medical exoskeleton robot assisted motion parameter online detection device as claimed in claim 1, wherein: the upper computer display and processing system (1) has the functions of displaying data in real time, storing data, processing data, judging a unqualified data mark and outputting and printing a report.
5. The medical exoskeleton robot assisted motion parameter online detection device as claimed in claim 4, wherein: and the data processing function corrects the data collected by the attitude angle sensor (3) according to the data collected by the tilt angle sensor (5).
6. The medical exoskeleton robot assisted motion parameter online detection device as claimed in claim 4, wherein: the report output printing function can output all real-time collected data, processing results and all temperature and humidity data corresponding to the data collection through Word and PDF formats.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021342557.0U CN212513054U (en) | 2020-07-09 | 2020-07-09 | Medical exoskeleton robot auxiliary motion parameter online detection device |
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| CN202021342557.0U CN212513054U (en) | 2020-07-09 | 2020-07-09 | Medical exoskeleton robot auxiliary motion parameter online detection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113442174A (en) * | 2021-05-27 | 2021-09-28 | 重庆理工大学 | Exoskeleton performance testing method, device and system |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113442174A (en) * | 2021-05-27 | 2021-09-28 | 重庆理工大学 | Exoskeleton performance testing method, device and system |
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Granted publication date: 20210209 |