WO2022102878A1 - Human body dummy device having adjustable mechanical impedance - Google Patents

Abstract

According to the present invention, provided is a human body dummy device having an adjustable mechanical impedance, comprising: a support structure; and an upper limb dummy coupled to the support structure to simulate the upper limbs of the human body, wherein the upper limb dummy comprises: a humerus mimic simulating the humerus of the human body; a forearm bone mimic simulating the forearm bone of the human body; a shoulder joint mimic part simulating the shoulder joint of the human body and coupling the humerus mimic to the support structure so as to be rotatable at three degrees of freedom; an elbow joint mimic part simulating the elbow joint of the human body and coupling the forearm bone mimic to the humerus mimic so as to be rotatable at one degree of freedom; and a muscle mimic structure simulating muscles constituting the upper limbs of the human body.

Description

Human body dummy device with adjustable mechanical impedance

The present invention relates to a human body dummy, and more particularly, to a human body dummy device that can be used to verify reliability and accuracy of an impedance estimation robot because mechanical impedance can be adjusted.

Stroke causes a change in muscle stiffness in the patient, which leads to physical disability such as upper extremity stiffness. For upper extremity rehabilitation of stroke patients, it is necessary to measure the mechanical impedance of the upper extremities. In general, the mechanical impedance measurement of the upper extremity is performed by a human measurer applying a force to the tip of the patient's upper extremity with his/her hand and sensing the resistance. Since this method relies on the senses of the measurer, it may vary depending on the skill and experience of the measurer, and even the same measurer may change from time to time, so there is a limit to objective diagnosis.

In order to solve the problem of the mechanical impedance evaluation method of the upper extremity depending on the human sense as described above, a robot for estimating mechanical impedance as disclosed in Korean Patent Application Laid-Open No. 10-2018-0035669 was recently developed. The mechanical impedance estimation robot is a robot that measures the mechanical impedance of the upper extremities for rehabilitation. A body connection part connected to a body such as a human hand, a driving part driving the body connection part, and a force applied to the body connection part are sensed A force sensor and a position sensor for detecting the position of the body connection part are provided, and the mechanical impedance of the subject is calculated by using the data measured by the force sensor and the position sensor.

In order to improve the accuracy of the mechanical impedance of the upper extremity measured by the mechanical impedance estimation robot, a human body dummy with adjustable mechanical impedance is required to verify the reliability and accuracy of the mechanical impedance estimation robot. However, since it is for CRP (cardiopulmonary resuscitation) practice, it is not suitable for verifying the reliability and accuracy of the mechanical impedance estimation robot.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a human body dummy device for verifying reliability and accuracy of an impedance estimating robot because mechanical impedance can be adjusted.

In order to achieve the above object of the present invention, according to one aspect of the present invention, there is provided a human body dummy device capable of adjusting mechanical impedance, comprising: a support structure; and an upper limb dummy coupled to the support structure to simulate an upper limb of a human body, wherein the upper limb dummy includes an humerus imitation body simulating an upper arm bone of a human body, and a forearm bone imitation body simulating a forearm bone of the human body; A shoulder joint replica that simulates the shoulder joint of a human body and rotatably couples the upper arm bone model to the support structure in three degrees of freedom, and the upper arm bone model and the forearm bone model by simulating the elbow joint of the human body A human body dummy device is provided, comprising: an elbow joint simulating part for rotatably coupling between them in one degree of freedom;

In order to achieve the above object of the present invention, according to another aspect of the present invention, there is provided a human body dummy device capable of adjusting mechanical impedance, comprising: a support structure; and an upper extremity dummy coupled to the supporting structure and having a muscle simulating structure simulating muscles constituting the upper extremities of the human body, wherein the supporting structure adjusts a three-dimensional position of the upper extremity dummy, a human body dummy device is provided .

According to the present invention, all of the objects of the present invention described above can be achieved. Specifically, the human body dummy device according to the present invention includes an upper arm bone base body that simulates the upper arm bone of the human body, a forearm bone base body that simulates the forearm bone of the human body, and the upper arm bone base body that simulates a shoulder joint of a human body a shoulder joint imitation part for rotatably coupling to the support structure in 3 degrees of freedom; It includes an upper extremity dummy having a joint mimicking part and a muscle mimicking structure that mimics the muscles constituting the upper extremities of the human body, wherein the muscle mimicking structure is provided with an elastic member whose elastic force is controlled, so that the mechanical impedance of the upper extremity dummy can be adjusted It is suitable for verifying the reliability and accuracy of the robot estimating the mechanical impedance of the upper extremity.

1 and 2 are perspective views of a human body dummy device capable of adjusting mechanical impedance according to an embodiment of the present invention.

3 and 4 are perspective views showing the upper extremity dummy in the human body dummy device capable of adjusting the mechanical impedance shown in FIGS. 1 and 2 .

5 to 9 are perspective views illustrating a shoulder joint simulating part and its periphery in the human body dummy device capable of adjusting the mechanical impedance shown in FIGS. 1 and 2 .

Hereinafter, the configuration and operation of the embodiment of the present invention will be described in detail with reference to the drawings.

1 and 2 are perspective views of a human upper extremity dummy device capable of adjusting mechanical impedance according to an embodiment of the present invention. 1 and 2 , a human body dummy device 100 (hereinafter, abbreviated as 'human body dummy device') capable of controlling mechanical impedance according to an embodiment of the present invention includes a support structure 110 and a supporting structure. and an upper limb dummy 150 coupled to the structure 110 .

The support structure 110 includes a foundation coupling plate 120 , a pillar 130 extending upward from the foundation coupling plate 120 in a height direction, and a dummy assembly 140 positioned at the upper end of the pillar 130 . do. The support structure 110 has a structure capable of moving the position of the upper extremity dummy 150 in three dimensions. For convenience of explanation, an x-y-z orthogonal system is introduced, wherein the x-axis and the y-axis extend on a horizontal plane, and the z-axis is set to extend in the height direction.

The base coupling plate 120 is generally a plate-shaped member, and is fixed to a base (not shown) on which the human body dummy device 100 is installed. A plurality of bottom fastening holes 121 are formed in the base coupling plate 120 . The plurality of bottom fastening holes 121 are in the form of a slot extending long and thin, and all extend parallel to the x-axis. Through the plurality of bottom fastening holes 121, the base coupling plate 120 may be fixed to the base (not shown) by bolts to enable position adjustment along the x-axis. To this end, a female screw hole to which a bolt is fastened is formed on the upper surface of the base (not shown). Accordingly, the x-axis position of the upper extremity dummy 150 coupled to the support structure 110 is adjusted. The pillar 130 is coupled to the base coupling plate 120 .

The pillar 130 extends upward from the foundation coupling plate 120 in the height direction (vertical direction). The pillar 130 includes a fixed pillar 131 fixed to the base coupling plate 120 and a movable pillar 135 that is movably coupled to the fixed pillar 131 .

The fixed pillar 131 extends along the height direction, and the lower end of the fixed pillar 131 is coupled to the base coupling plate 120 to be fixed. A movable pillar 135 is movably coupled to the fixed pillar 131 in the height direction.

The movable pillar 135 is movably coupled to the fixed pillar 131 along the height direction so that the overall height of the pillar 130 is adjusted. Accordingly, the z-axis position of the upper extremity dummy 150 is adjusted. A plurality of pillar fastening holes 136 are formed in the movable pillar part 135 . The plurality of pillar fastening holes 136 are in the form of a slot that is elongated and thin, and all extend parallel to the z-axis. Through the plurality of pillar fastening holes 136 , the movable pillar 135 may be fixed to the fixed pillar 135 by a bolt to enable height adjustment along the z-axis. To this end, a female screw hole to which a bolt is fastened is formed in a side surface of the fixing pillar 135 . In the present embodiment, it is described that the pillar fastening hole 136 is formed in the movable pillar 135 , but it may be formed in the fixed pillar 131 differently from this, and this also falls within the scope of the present invention. A dummy assembly 140 is coupled to the upper end of the movable pillar 135 .

The dummy assembly 140 is fixed to the upper end of the movable pillar 135 so as to be movable in parallel with the y-axis. The upper extremity dummy 150 is coupled to the dummy assembly 140 . Upper limb dummy coupled to the dummy assembly 140 by the base coupling plate 120 whose position is adjusted in the x-axis direction, the column 130 whose height is adjusted, and the dummy assembly 140 whose position is adjusted in the y-axis direction ( 150) is adjusted. The dummy coupling body 140 includes a basic coupling part 141 and a dummy coupling part 145 forming an integral body.

The base coupling part 141 is generally plate-shaped, and is coupled to the movable pillar part 135 in a form that covers the upper end of the movable pillar part 135 . A plurality of upper fastening holes 142 are formed in the base coupling part 141 . The plurality of upper fastening holes 142 are in the form of a slot extending long and thin, and all extend parallel to the y-axis. Through the plurality of upper fastening holes 142 , the dummy assembly 140 may be fixed to the upper end of the movable pillar 135 by a bolt to enable position adjustment along the y-axis. To this end, a female screw hole to which a bolt is fastened is formed at the upper end of the movable pillar part 135 . Accordingly, the y-axis position of the upper extremity dummy 150 coupled to the dummy assembly 140 is adjusted. In this embodiment, the upper fastening hole 142 is described as being formed in the foundation coupling portion 141, but may be formed in the movable pillar portion 135 differently from this, which also falls within the scope of the present invention.

The dummy coupling part 145 is in the form of a bar extending laterally from the foundation coupling part 141 , and is integrally formed with the foundation coupling part 141 . The upper extremity dummy 150 is coupled to the dummy coupling part 145 . The dummy coupling part 145 may be understood to correspond to the shoulder blade of the human body.

The upper limb dummy 150 is coupled to the dummy coupling part 145 of the dummy coupler 140 . The three-dimensional position of the upper extremity dummy 150 may be changed by the base structure 110 so that the upper extremity dummy 150 can take various postures. Referring to FIGS. 3 and 4 centered on the upper limb dummy 150, the upper limb dummy 150 mimics the upper limb of the human body, and includes an upper arm bone base 160 and a forearm bone base body. (165), and a shoulder joint imitation unit 170, and an elbow joint imitation unit 175, and a muscle imitation structure 180. The upper extremity dummy 150 is positioned to be spaced apart from one side of the pillar 130, and for convenience of explanation, the side of the pillar 130 with respect to the upper extremity dummy 150 is referred to as the inner side, and the opposite side of the pillar 130 is referred to as the inner side. This is called the outer side.

The humerus base body 160 simulates the humerus of the human body, and has a bar shape extending in a substantially straight line. The first end 161 of the humerus base body 160 is coupled to the dummy assembly 140 by the shoulder joint imitation unit 170, and the second end 162 of the humerus base body 160 is the elbow joint. It is coupled with the forearm base body 165 by the base part 175. The muscle mimic structure 180 is coupled to the humerus base body 160 .

The forearm base body 165 mimics the forearm bone of the human body, and has a bar shape extending in a substantially straight line. The first end 166 of the forearm base 165 is coupled to the second end 162 of the forearm base 160 by the elbow joint simulant 175 . The muscle mimic structure 180 is coupled to the forearm base body 165 . A robot coupling member 168 connected to a mechanical impedance estimation robot (not shown) is coupled and fixed to the forearm base body 165 . The robotic coupling member 168 extends further along the longitudinal direction of the forearm base member 165 from the second end 167 of the forearm base member 165 in a state coupled to the forearm base member 165 . A portion 169 is provided. A mechanical impedance estimating robot (not shown) and a connecting device (not shown) for mechanically connecting the extension 169 are coupled to the extension 169 . That is, it can be understood that the extension 169 corresponds to the hand of the human body. In this embodiment, the upper extremity dummy 150 is described as being connected to the mechanical impedance estimation robot (not shown) through the robot coupling member 168, but unlike this, the mechanical impedance estimation robot (not shown) directly to the forearm base body 165 time) may be connected, which also falls within the scope of the present invention.

The shoulder joint imitation unit 170 is a simulating the shoulder joint of the human body, and the first end 161 of the humerus imitation body 160 is coupled to the dummy coupling unit 145 of the dummy coupler 140 . Due to the shoulder joint imitation unit 170 , the upper arm bone imitation body 160 is capable of rotation in 3 degrees of freedom with respect to the dummy assembly 140 . In this embodiment, a structure in which a universal joint and a bearing are combined as the shoulder joint imitation unit 170 is described as being used so that three degrees of freedom rotation of the humerus imitation body 160 with respect to the dummy assembly 140 is possible. The shoulder joint simulating part 170 is generally located at the end of the dummy coupling part 145 .

The elbow joint mimic part 175 is a simulating the elbow joint of the human body, and couples the second end 162 of the upper arm bone base 160 and the first end 166 of the forearm base body 165 to each other. The forearm bone base 165 by the elbow joint mimetic part 175 can rotate one degree of freedom with respect to the upper arm bone base body 160 about the axis of rotation (A). A hinge providing one degree of freedom of rotation is used as the elbow joint replica 175 .

The muscle imitation structure 180 is a simulating the main muscles constituting the upper extremities of the human body, the first muscle imitation unit 181 , the second muscle imitation unit 182 , the third muscle imitation unit 183 , and the fourth muscle Simulating unit 184 , fifth muscle mimicking unit 185 , sixth muscle mimicking unit 186 , seventh muscle simulating unit 187 , eighth muscle simulating unit 188 , ninth muscle simulating unit 189 . to provide

The first muscle simulating unit 181 is a simulating the brachioradialis of the human body, and is coupled to the upper arm bone base 160 and the forearm bone base body 165 . The first muscle imitation unit 181 includes a first elastic member 1811 providing an elastic force corresponding to a tensile load, and a first elastic member 1811 for the upper arm bone base body 160 and the forearm bone base body 165 . A first elastic force adjusting means 1814 for adjusting the elastic force by the first and second A coupling wires 1812 and 1813 and the first elastic member 1811 for coupling to each other are provided.

The first elastic member 1811 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The stiffness of the radial brachial muscle of the human body is simulated by the elastic force generated by the first elastic member 1811 . The elastic force generated by the first elastic member 1811 is adjusted by the first elastic force adjusting means 1814 . At both ends of the first elastic member 1811, the 1A bonding wire 1812 and the 2A bonding wire 1813 are respectively connected.

Each of the 1A bonding wire 1812 and the 2A bonding wire 1813 is connected to both ends of the first elastic member 1811 . The end of the 1A bonding wire 1812 is coupled to and fixed to the humerus base body 160 by a coupling means such as a bolt, and the end of the 2A coupling wire 1813 is fixed to the forearm by coupling means such as a bolt. It is coupled to and fixed to the first coupling aid 1815 protruding from the body 165 . The position where the end of the 1A bonding wire 1812 and the end of the 2A bonding wire 1813 are coupled is determined so that the first muscle simulating unit 181 can simulate the brachial radial muscle of the human body. The elastic force by the first elastic member 1811 coupled to the forearm base body 160 and the forearm base body 165 by the 1A coupling wire 1812 and the 2A coupling wire 1813 is the forearm bone base body A rotational force is generated to rotate the 165 in the first rotational direction (the rotational direction indicated by the solid line) with respect to the rotational axis A of the elbow joint simulating part 175 with respect to the humerus base body 160 . In this embodiment, the 1A coupling wire 1812 is coupled to the humerus base 160 at a position P11 between the elbow joint imitation part 175 and the longitudinal center of the humerus base body 160 . In this embodiment, the first coupling aid 1815 is positioned adjacent to the second end 167 of the forearm base body 165 , and the 2A coupling wire 1813 is at the end of the first coupling aid 1815 . coupled to position P12.

The first elastic force adjusting means 1814 adjusts the elastic force by the first elastic member 1811 . The first elastic force adjusting means 1814 is described as adjusting the elastic force by the first elastic member 1811 by adjusting the length of the 1A bonding wire 1812 or the 2A bonding wire 1813. In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the first elastic force adjusting means ( When the length of the 1A bonding wire 1812 or the 2A bonding wire 1813 is changed using the 1814), the length of the first elastic member 1811, which is a tension coil spring, is changed to adjust the elastic force.

The second muscle mimicking unit 182 is a simulating the brachialis of the human body, and is coupled to the upper arm bone base 160 and the forearm bone base body 165 . The second muscle imitation unit 182 includes a second elastic member 1821 that provides an elastic force corresponding to a tensile load, and a second elastic member 1821 for the upper arm bone base 160 and the forearm bone base body 165 . A second elastic force adjusting means 1824 for adjusting the elastic force by the first and second B bonding wires 1822 and 1823 and the second elastic member 1821 for coupling to each other is provided.

The second elastic member 1821 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the brachial muscle of the human body is simulated by the elastic force generated by the second elastic member 1821 . The elastic force generated by the second elastic member 1821 is adjusted by the second elastic force adjusting means 1824 . At both ends of the second elastic member 1821, the 1B bonding wire 1822 and the 2B bonding wire 1823 are respectively connected.

Each of the 1B bonding wire 1822 and the 2B bonding wire 1823 is connected to both ends of the second elastic member 1821 . The end of the 1B bonding wire 1822 is coupled to and fixed to the humerus base body 160 by a coupling means such as a bolt, and the end of the 2B coupling wire 1823 is fixed by a coupling means such as a bolt. It is coupled to the body 165 and fixed. The position where the end of the 1B bonding wire 1822 and the end of the 2B bonding wire 1823 are coupled is determined so that the second muscle simulating unit 182 can simulate the brachial muscle of the human body. The elastic force by the second elastic member 1821 coupled to the forearm base body 160 and the forearm base body 165 by the 1B coupling wire 1822 and the 2B coupling wire 1823 is the forearm base body. A rotational force is generated to rotate the 165 in the first rotational direction (the rotational direction indicated by the solid line) with respect to the rotational axis A of the elbow joint simulating part 175 with respect to the humerus base body 160 . In this embodiment, the 1B coupling wire 1822 is coupled to the humerus base 160 at a position P21 between the elbow joint simulant 175 and the longitudinal center of the humerus base 160 . The position (P21) where the 1B coupling wire 1822 is coupled to the humerus base body 160 is higher than the position where the 1A coupling wire 1812 is coupled to the humerus base body 160, the elbow joint mimetic part 175. slightly further from In this embodiment, the 2B coupling wire 1823 is a forearm base at a position (P22) between the forearm base part 175 and the longitudinal center of the forearm base body 165 to the forearm base body 165. coupled adjacent to the first end 166 of 165 .

The second elastic force adjusting means 1824 adjusts the elastic force by the second elastic member 1821 . The second elastic force adjusting means 1824 is described as adjusting the elastic force by the second elastic member 1821 by adjusting the length of the 1B bonding wire 1822 or the 2B bonding wire 1823. In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the second elastic force adjusting means ( When the length of the 1B bonding wire 1822 or the 2B bonding wire 1823 is changed using 1824), the length of the second elastic member 1821, which is a tension coil spring, is changed to control the elastic force.

The third muscle simulating unit 183 simulates the long head of biceps brachii of the human body, and is coupled to the dummy coupling part 145 and the forearm base body 165 . The third muscle simulating unit 183 includes a third elastic member 1831 that provides an elastic force corresponding to a tensile load, and the third elastic member 1831 to the dummy coupling part 145 and the forearm base body 165 . 1C and 2C coupling wires 1832 and 1833 for coupling, respectively, and a third elastic force adjusting means 1834 for adjusting the elastic force by the third elastic member 1831 is provided.

The third elastic member 1831 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the long head of the biceps brachii of the human body is simulated by the elastic force generated by the third elastic member 1831 . The elastic force generated by the third elastic member 1831 is adjusted by the third elastic force adjusting means 1834 . A 1C bonding wire 1832 and a 2C bonding wire 1833 are respectively connected to both ends of the third elastic member 1831 .

Each of the 1C bonding wire 1832 and the 2C bonding wire 1833 is connected to both ends of the third elastic member 1831 . The end of the 1C bonding wire 1832 is fixed by being coupled to the dummy coupling part 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2C coupling wire 1833 is coupled to the coupling means such as bolts. It is fixed by being coupled to the forearm base body (165). The position where the end of the 1C coupling wire 1832 and the end of the 2C coupling wire 1833 are coupled is determined so that the third muscle simulating unit 183 can simulate the long head of the biceps brachii muscle of the human body. The elastic force by the third elastic member 1831 coupled to the dummy coupling part 145 and the forearm base body 165 by the 1C coupling wire 1832 and the 2C coupling wire 1833 is the forearm base body ( 165) generates a rotational force for rotating the upper arm bone base 160 in the first rotational direction (rotational direction indicated by a solid line) with respect to the rotation axis A of the elbow joint model 175. In this embodiment, the 1C coupling wire 1832 is located opposite the first end 161 of the humerus body 160 with the shoulder joint imitation unit 170 interposed between the dummy coupling unit 145 (P31). is combined in In order to prevent interference between the 1C coupling wire 1832 and the first end 161 of the humerus base 160, the first end 161 of the humerus base 160 has a 1C coupling wire 1832) A support roller 1835 for supporting the is installed. In this embodiment, the 2C coupling wire 1833 is coupled to the forearm base 165 at a position P32 between the elbow joint base 175 and the longitudinal center of the forearm base 165 . The position (P32) where the 2C coupling wire 1833 is coupled to the forearm base body 165 is higher than the position (P22) where the 2B coupling wire 1823 is coupled to the forearm base body 165, the elbow joint mimetic part Slightly further from (175).

The third elastic force adjusting means 1834 adjusts the elastic force by the third elastic member 1831 . The third elastic force adjusting means 1834 is described as adjusting the elastic force by the third elastic member 1831 by adjusting the length of the 1C bonding wire 1832 or the 2C bonding wire 1833. In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the third elastic force adjusting means ( When the length of the 1C coupling wire 1832 or the 2C coupling wire 1833 is changed using 1834), the length of the third elastic member 1831, which is a tension coil spring, is changed to control the elastic force.

The fourth muscle simulating unit 184 is a simulating the short head of biceps brachi of the human body, and is coupled to the dummy coupling part 145 and the forearm base body 165 . The fourth muscle imitation unit 184 includes a fourth elastic member 1841 that provides an elastic force corresponding to a tensile load, and the fourth elastic member 1841 to the dummy coupling part 145 and the forearm base body 165 . 1D and 2D coupling wires 1842 and 1843 for coupling, respectively, and a fourth elastic force adjusting means 1844 for adjusting the elastic force by the fourth elastic member 1841 is provided.

The fourth elastic member 1841 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the short head of the biceps brachii of the human body is simulated by the elastic force generated by the fourth elastic member 1841 . The elastic force generated by the fourth elastic member 1841 is adjusted by the fourth elastic force adjusting means 1844 . A 1D coupling wire 1842 and a 2D coupling wire 1843 are respectively connected to both ends of the fourth elastic member 1841 .

Each of the 1D bonding wire 1842 and the 2D bonding wire 1843 is connected to both ends of the fourth elastic member 1841 . The end of the 1D bonding wire 1842 is coupled to and fixed to the dummy coupling part 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2D coupling wire 1843 is coupled to the coupling means such as bolts. It is fixed by being coupled to the forearm base body (165). The position where the end of the 1D coupling wire 1842 and the end of the 2D coupling wire 1843 are coupled is determined so that the fourth muscle simulating unit 184 can simulate the short head of the biceps brachii muscle of the human body. The elastic force by the fourth elastic member 1841 coupled to the dummy coupling part 145 and the forearm base body 165 by the 1D coupling wire 1842 and the 2D coupling wire 1843 is the forearm base body ( 165) generates a rotational force for rotating the upper arm bone base 160 in the first rotational direction (rotational direction indicated by a solid line) with respect to the rotation axis A of the elbow joint model 175. In this embodiment, the 1D coupling wire 1842 is coupled to the dummy coupling part 145 at a position P41 spaced apart from the shoulder joint simulating part 170 and the inner side. In this embodiment, the 2D coupling wire 1843 is coupled to the forearm base body 165 at the same position as the position P32 at which the 2C coupling wire 1833 is coupled.

The fourth elastic force adjusting means 1844 adjusts the elastic force by the fourth elastic member 1841 . The fourth elastic force adjusting means 1844 is described as adjusting the elastic force by the fourth elastic member 1841 by adjusting the length of the 1D coupling wire 1842 or the 2D coupling wire 1843 . In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the fourth elastic force adjusting means ( When the length of the 1D coupling wire 1842 or the 2D coupling wire 1843 is changed using 1844), the length of the fourth elastic member 1841, which is a tension coil spring, is changed to control the elastic force.

The fifth muscle simulating unit 185 is a simulating the posterior deltoid muscle of the human body, and is coupled to the dummy coupling part 145 and the upper arm bone base 160 . The fifth muscle simulating unit 185 includes a fifth elastic member 1851 that provides an elastic force corresponding to a tensile load, and a fifth elastic member 1851 to the dummy coupling part 145 and the upper arm bone base 160 . 1E and 2E coupling wires 1852 and 1853 for coupling, respectively, and a fifth elastic force adjusting means 1844 for adjusting the elastic force by the fifth elastic member 1851 is provided.

The fifth elastic member 1851 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the rear deltoid muscle of the human body is simulated by the elastic force generated by the fifth elastic member 1851 . The elastic force generated by the fifth elastic member 1851 is adjusted by the fifth elastic force adjusting means 1854 . A first coupling wire 1852 and a second coupling wire 1853 are connected to both ends of the fifth elastic member 1851 , respectively.

Each of the 1E bonding wire 1852 and the 2E bonding wire 1853 is connected to both ends of the fifth elastic member 1851 . The end of the 1E bonding wire 1852 is coupled to and fixed to the dummy coupling portion 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2E coupling wire 1853 is coupled to the coupling means such as bolts. It is coupled to and fixed to the humerus base body 160 by the The position where the end of the 1E coupling wire 1852 and the end of the 2E coupling wire 1853 are coupled is determined so that the fifth muscle simulating unit 185 can simulate the rear deltoid of the human body. In this embodiment, the 1E coupling wire 1852 is coupled at a position P51 spaced apart from the back of the shoulder joint simulation unit 170 in the dummy coupling unit 145 . In this embodiment, the 2E coupling wire 1853 is coupled to the humerus base 160 at a position P52 between the shoulder joint base 170 and the longitudinal center of the humerus base 160 .

The fifth elastic force adjusting means 1854 adjusts the elastic force by the fifth elastic member 1851 . The fifth elastic force adjusting means 1854 is described as adjusting the elastic force by the fifth elastic member 1851 by adjusting the length of the 1E coupling wire 1852 or the 2E coupling wire 1853. In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the fifth elastic force adjusting means ( When the length of the 1E coupling wire 1852 or the 2E coupling wire 1853 is changed using the 1854), the length of the fifth elastic member 1851, which is a tension coil spring, is changed to control the elastic force.

The sixth muscle simulating unit 186 simulates the triceps of the human body, and is coupled to the dummy coupling part 145 and the forearm base 165 . The sixth muscle simulating unit 186 includes a sixth elastic member 1861 that provides an elastic force corresponding to a tensile load, and a sixth elastic member 1861 to the dummy coupling part 145 and the forearm base body 165 . 1F and 2F coupling wires 1862 and 1863 for coupling, respectively, and a sixth elastic force adjusting means 1864 for adjusting the elastic force by the sixth elastic member 1861 is provided.

The sixth elastic member 1861 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the triceps brachii of the human body is simulated by the elastic force generated by the sixth elastic member 1861 . The elastic force generated by the sixth elastic member 1861 is adjusted by the sixth elastic force adjusting means 1864 . A 1F coupling wire 1862 and a 2F coupling wire 1863 are connected to both ends of the sixth elastic member 1861 , respectively.

Each of the 1F bonding wire 1862 and the 2F bonding wire 1863 is connected to both ends of the sixth elastic member 1861 . The end of the 1F bonding wire 1862 is coupled to and fixed to the dummy coupling part 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2F coupling wire 1863 is coupled to the coupling means such as bolts. It is coupled to and fixed to the second coupling aid 1865 protruding from the forearm base body 165 by the The position where the end of the 1F coupling wire 1862 and the end of the 2F coupling wire 1863 are coupled is determined so that the sixth muscle simulating unit 186 can simulate the triceps brachii of the human body. The elastic force by the sixth elastic member 1861 coupled to the dummy coupling part 145 and the forearm base body 165 by the 1F coupling wire 1862 and the 2F coupling wire 1863 is the forearm bone base body ( 165) with respect to the upper arm bone base 160, the second direction of rotation (shown by a broken line) opposite to the first direction of rotation (the direction of rotation indicated by a solid line) with respect to the axis of rotation A of the base of the elbow joint 175. rotational direction) to generate rotational force. In this embodiment, the 1F coupling wire 1862 is coupled at a position P61 spaced apart from the back of the shoulder joint simulating part 170 in the dummy coupling part 145 . In this embodiment, the second coupling aid 1865 is positioned adjacent to the first end 166 of the forearm base body 165, and the 2F coupling wire 1863 is the end of the second coupling aid 1865. coupled to position P62.

The sixth elastic force adjusting means 1864 adjusts the elastic force by the sixth elastic member 1861 . The sixth elastic force adjusting means 1864 is described as adjusting the elastic force by the sixth elastic member 1861 by adjusting the length of the 1F bonding wire 1862 or the 2F bonding wire 1863. In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the sixth elastic force adjusting means ( When the length of the 1F coupling wire 1862 or the 2F coupling wire 1863 is changed using 1864), the length of the sixth elastic member 1861, which is a tension coil spring, is changed to control the elastic force.

The seventh muscle simulating unit 187 simulates the supraspinatus muscle of the human body, and is coupled to the dummy coupling part 145 and the humerus body 160 . The seventh muscle simulating unit 187 includes a seventh elastic member 1871 that provides an elastic force corresponding to a tensile load, and a seventh elastic member 1871 to the dummy coupling part 145 and the upper arm bone base 160 . 1G and 2G coupling wires 1872 and 1873 for coupling, respectively, and a seventh elastic force adjusting means 1874 for adjusting the elastic force by the seventh elastic member 1871 is provided.

The seventh elastic member 1871 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the supraspinatus muscle of the human body is simulated by the elastic force generated by the seventh elastic member 1871 . The elastic force generated by the seventh elastic member 1871 is adjusted by the seventh elastic force adjusting means 1874 . A 1G bonding wire 1872 and a 2G bonding wire 1873 are connected to both ends of the seventh elastic member 1871 , respectively. The elastic force of the seventh elastic member 1871 applies a force in the direction in which the humerus base body 160 rotates outwardly with respect to the shoulder joint base part 170 .

Each of the 1G bonding wire 1872 and the 2G bonding wire 1873 is connected to both ends of the seventh elastic member 1871 . The end of the 1st G coupling wire 1872 is fixed to the dummy coupling part 145 of the dummy coupling body 140 by coupling means such as a bolt, and the end of the 2G coupling wire 1873 is coupled to the coupling means such as a bolt. It is coupled to and fixed to the humerus base body 160 by the The position where the end of the 1G coupling wire 1872 and the end of the 2G coupling wire 1873 are coupled is determined so that the seventh muscle simulating unit 187 can simulate the supraspinatus of the human body. In this embodiment, the 1G coupling wire 1872 is coupled at an inwardly spaced position P71 of the shoulder joint simulation unit 170 in the dummy coupling unit 145 . In this embodiment, the 2G coupling wire 1873 is coupled at a location P72 near the first end 161 of the humerus base body 160 .

The seventh elastic force adjusting means 1874 adjusts the elastic force by the seventh elastic member 1871 . The seventh elastic force adjusting means 1874 is described as adjusting the elastic force by the seventh elastic member 1871 by adjusting the length of the 1G bonding wire 1872 or the 2G bonding wire 1873 . In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the seventh elastic force adjusting means ( When the length of the 1G coupling wire 1872 or the 2G coupling wire 1873 is changed using the 1874), the length of the seventh elastic member 1871, which is a tension coil spring, is changed to control the elastic force.

The eighth muscle simulating unit 188 is a simulating the subscapularis of the human body, and is coupled to the dummy coupling part 145 and the upper arm bone base 160 . The eighth muscle simulating unit 188 includes an eighth elastic member 1881 that provides an elastic force corresponding to a tensile load and an eighth elastic member 1881 to the dummy coupling part 145 and the upper arm bone base 160. 1H and 2H coupling wires 1882 and 1883 for coupling, respectively, and an eighth elastic force adjusting means 1884 for adjusting the elastic force by the eighth elastic member 1881 is provided.

The eighth elastic member 1881 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the subscapularis muscle of the human body is simulated by the elastic force generated by the eighth elastic member 1871 . The elastic force generated by the eighth elastic member 1881 is adjusted by the eighth elastic force adjusting means 1884 . A first H coupling wire 1882 and a second H coupling wire 1883 are connected to both ends of the eighth elastic member 1881 , respectively.

Each of the 1H bonding wire 1882 and the 2H bonding wire 1883 is connected to both ends of the eighth elastic member 1881 . The end of the 1H bonding wire 1882 is coupled to and fixed to the dummy coupling portion 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2H coupling wire 1883 is coupled to the coupling means such as bolts. It is coupled to and fixed to the humerus base body 160 by the The position where the end of the 1H bonding wire 1882 and the end of the 2H bonding wire 1883 are coupled is determined so that the eighth muscle simulating unit 185 can simulate the subscapularis muscle of the human body. In this embodiment, the first H coupling wire 1882 is coupled at a position P81 spaced apart from the front of the shoulder joint simulating unit 170 in the dummy coupling unit 145 . In this embodiment, the 2H coupling wire 1883 is coupled at a location P82 near the first end 161 of the humerus base body 160 .

The eighth elastic force adjusting means 1884 adjusts the elastic force by the eighth elastic member 1881 . The eighth elastic force adjusting means 1884 is described as adjusting the elastic force by the eighth elastic member 1881 by adjusting the length of the first H-coupled wire 1882 or the second H-coupled wire 1883 . In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the eighth elastic force adjusting means ( When the length of the first H coupling wire 1882 or the second H coupling wire 1883 is changed using 1884), the length of the eighth elastic member 1881, which is a tension coil spring, is changed to adjust the elastic force.

The ninth muscle mimicking unit 189 is a simulating the infraspinatus of the human body, and is coupled to the dummy coupling part 145 and the upper arm bone base 160 . The ninth muscle simulating unit 189 includes a ninth elastic member 1891 that provides an elastic force corresponding to a tensile load, and a ninth elastic member 1891 to the dummy coupling part 145 and the upper arm bone base 160 . A ninth elastic force adjusting means 1894 for adjusting the elastic force by the first and second J coupling wires 1892 and 1893 for coupling, respectively, and the ninth elastic member 1891 is provided.

The ninth elastic member 1891 is a tensile coil spring and provides an elastic force corresponding to a tensile load. The hardness of the infraspinatus of the human body is simulated by the elastic force generated by the ninth elastic member 1891 . The elastic force generated by the ninth elastic member 1891 is adjusted by the ninth elastic force adjusting means 1894 . At both ends of the ninth elastic member 1891, the 1J bonding wire 1892 and the 2J bonding wire 1893 are respectively connected. The elastic force of the ninth elastic member 1891 applies a force in a direction in which the humerus base body 160 rotates outwardly with respect to the shoulder joint base part 170 .

Each of the 1J bonding wire 1892 and the 2J bonding wire 1893 is connected to both ends of the ninth elastic member 1891 . The end of the 1J bonding wire 1892 is fixed by being coupled to the dummy coupling portion 145 of the dummy coupling body 140 by coupling means such as bolts, and the end of the 2J coupling wire 1893 is coupled to the coupling means such as bolts. It is coupled to and fixed to the humerus base body 160 by the The position where the end of the 1J bonding wire 1892 and the end of the 2J bonding wire 1893 are coupled is determined so that the ninth muscle simulating unit 189 can simulate the infraspinatus of the human body. In this embodiment, the 1J coupling wire 1892 is coupled at an inwardly spaced position (P91) of the shoulder joint simulating part 170 in the dummy coupling part 145. In this embodiment, the 2J coupling wire 1893 is coupled at a location P92 near the first end 161 of the humerus base body 160 .

The ninth elastic force adjusting means 1894 adjusts the elastic force by the ninth elastic member 1871 . The ninth elastic force adjusting means 1894 is described as adjusting the elastic force by the ninth elastic member 1891 by adjusting the length of the 1J bonding wire 1892 or the 2J bonding wire 1893 . In a state in which the upper extremity dummy 150 is coupled to the mechanical impedance estimation robot (not shown), the shoulder joint imitation unit 170 and the elbow joint imitation unit 175 are fixed, and in this state, the user uses the ninth elastic force adjusting means ( When the length of the 1J coupling wire 1892 or the 2J coupling wire 1893 is changed using the 1894), the length of the ninth elastic member 1891 that is a tension coil spring is changed to control the elastic force.

In the above embodiment, all of the plurality of muscle simulating units (181, 182, 183, 184, 185, 186, 187, 188, 189) are described as hardness-adjustable muscle simulating units that can adjust the elastic force, but differently Only some muscle-simulating units may be hardness-adjustable muscle-simulating units capable of adjusting elastic force, and this also falls within the scope of the present invention.

Although the present invention has been described through the above examples, the present invention is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes also belong to the present invention.

The human body dummy device according to the present invention can be used to verify the reliability and accuracy of the impedance estimation robot because the mechanical impedance can be adjusted.

In addition, the human body dummy device according to the present invention can measure stiffness according to a change in mechanical impedance, and thus can be used for education of clinical evaluation related practitioners.

Claims (20)

1. A human body dummy device capable of adjusting mechanical impedance, comprising:

   support structures; and

   It is coupled to the support structure and includes an upper limb dummy simulating the upper limbs of the human body,

   The upper extremity dummy,

   An upper arm bone mimetic body that mimics the upper arm bone of the human body;

   A forearm bone mimetic body that mimics the forearm bone of the human body,

   a shoulder joint simulating part simulating the shoulder joint of the human body and rotatably coupled to the upper arm bone imitation body to the support structure in three degrees of freedom;

   an elbow joint mimicking part that simulates the elbow joint of the human body and rotatably connects the upper arm bone base body and the forearm bone base body to one degree of freedom;

   Having a muscle mimicking structure that mimics the muscles constituting the upper extremities of the human body,

   human body dummy device.
2. The method according to claim 1,

   The muscle mimicking structure is provided with a plurality of muscle mimicking units that mimic each of the muscles constituting the upper extremities of the human body,

   Each of the plurality of muscle simulating units is provided with an elastic member that simulates the hardness of the muscle,

   human body dummy device.
3. 3. The method according to claim 2,

   At least one of the plurality of muscle simulating units is a hardness-adjustable muscle simulating unit further comprising an elastic force adjusting means for adjusting the elastic force of the elastic member,

   human body dummy device.
4. 4. The method according to claim 3,

   The hardness controllable muscle simulating unit further includes a coupling wire connected to one end of the elastic member,

   The elastic force adjusting means for adjusting the length of the bonding wire,

   human body dummy device.
5. 3. The method according to claim 2,

   The elastic member is a tension coil spring,

   human body dummy device.
6. The method according to claim 1,

   The muscle mimic structure comprises a first muscle mimic unit coupled to the forearm mimetic body and the forearm bone mimetic body to mimic the brachioradialis of the human body,

   human body dummy device.
7. The method according to claim 1,

   The muscle mimic structure is coupled to the forearm mimetic body and the forearm bone mimetic body and includes a second muscle mimicry unit that mimics the brachial muscle of the human body,

   human body dummy device.
8. The method according to claim 1,

   The muscle mimicry structure is coupled to the support structure and the forearm mimetic body to include a third muscle mimicking unit for simulating the long head of biceps brachii of the human body,

   human body dummy device.
9. The method according to claim 1,

   The muscle mimic structure is coupled to the support structure and the forearm mimetic body and includes a fourth muscle mimic unit that simulates the short head of biceps brachi of the human body,

   human body dummy device.
10. The method according to claim 1,

    The muscle mimicry structure is coupled to the support structure and the humerus mimetic body and comprising a fifth muscle mimicking unit simulating the posterior deltoid muscle (Deltoid Posterior) of the human body,

    human body dummy device.
11. The method according to claim 1,

    The muscle mimicry structure is coupled to the support structure and the forearm mimetic body and includes a sixth muscle mimicking unit for simulating the triceps of the human body,

    human body dummy device.
12. The method according to claim 1,

    The muscle mimicry structure is coupled to the support structure and the humerus mimetic body and comprises a seventh muscle mimicking unit simulating the supraspinatus muscle of the human body,

    human body dummy device.
13. The method according to claim 1,

    The muscle mimicry structure is coupled to the support structure and the humerus mimetic body, and comprising an eighth muscle mimicking unit simulating the subscapularis muscle of the human body,

    human body dummy device.
14. The method according to claim 1,

    The muscle mimicry structure is coupled to the support structure and the humerus mimetic body to include a ninth muscle mimicking unit simulating the infraspinatus of the human body,

    human body dummy device.
15. The method according to claim 1,

    The support structure controls the three-dimensional position of the upper extremity dummy,

    human body dummy device.
16. 16. The method of claim 15,

    The support structure includes a foundation coupling plate movably coupled to the foundation, a pillar extending upward from the foundation coupling plate and having a height adjusted, located at the top of the pillar and movably coupled with respect to the pillar, and the upper extremity dummy is Having a dummy assembly to be coupled,

    human body dummy device.
17. The method according to claim 1,

    The shoulder joint simulating part having a universal joint and a bearing,

    human body dummy device.
18. A human body dummy device capable of adjusting mechanical impedance, comprising:

    support structures; and

    It is coupled to the support structure and includes an upper extremity dummy having a muscle mimicking structure that mimics the muscles constituting the upper extremities of the human body,

    The support structure controls the three-dimensional position of the upper extremity dummy,

    human body dummy device.
19. 19. The method of claim 18,

    The support structure includes a foundation coupling plate movably coupled to the foundation, a pillar extending upward from the foundation coupling plate and having a height adjusted, located at the top of the pillar and movably coupled with respect to the pillar, and the upper extremity dummy is Having a dummy assembly to be coupled,

    human body dummy device.
20. 20. The method of claim 19,

    The pillar includes a fixed pillar portion coupled to the base coupling plate, and a movable pillar portion coupled to the dummy assembly and movably coupled to the fixed pillar portion,

    human body dummy device.

Images